Novel adaptive estimation and control of continuous-time systems based on parameter estimation error

Jing Na, Jingang Zhang, Guanbin Gao

Research output: Chapter in Book/Report/Conference proceedingConference Contribution (Conference Proceeding)

1 Citation (Scopus)


This paper studies an alternative adaptive estimation and control approach for continuous-time systems that can be presented in a parameterized form. A novel leakage term containing the parameter estimation error is proposed by introducing filter operations on the system dynamics, and then superimposed in the gradient based adaptive laws to estimate the unknown parameters. Consequently, exponential error convergence can be achieved for both the tracking control and parameter estimations. The proposed control and adaptive law are further modified via the sliding mode approach to achieve finite-time (FT) error convergence. Moreover, appropriate comparisons to gradient method and σ-modification are provided concerning the robustness and estimation performance. Comparative simulations are provided to illustrate the effectiveness of the methods.

Original languageEnglish
Title of host publicationChinese Control Conference, CCC
PublisherIEEE Computer Society
Number of pages6
ISBN (Print)9789881563897
Publication statusPublished - 11 Sep 2015
Event34th Chinese Control Conference, CCC 2015 - Hangzhou, China
Duration: 28 Jul 201530 Jul 2015


Conference34th Chinese Control Conference, CCC 2015


  • Adaptive control
  • Finite-time convergence
  • Parameter estimation

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