Abstract
This paper exploits an alternative adaptive
parameter estimation and control approach for nonlinear
systems. An auxiliary filter is developed to derive a
representation of the parameter estimation error, which is
combined with an adaptive law to guarantee the exponential
convergence of the control error as well as the estimation error.
The proposed method is further improved via a sliding mode
technique to achieve the finite-time (FT) error convergence. The
traditional persistent excitation (PE) is simplified as an a priori
verifiable sufficiently rich (SR) requirements on the demand
signal. The robustness of the control schemes with bounded
disturbances is also investigated. The developed methods are
finally tested via simulations.
parameter estimation and control approach for nonlinear
systems. An auxiliary filter is developed to derive a
representation of the parameter estimation error, which is
combined with an adaptive law to guarantee the exponential
convergence of the control error as well as the estimation error.
The proposed method is further improved via a sliding mode
technique to achieve the finite-time (FT) error convergence. The
traditional persistent excitation (PE) is simplified as an a priori
verifiable sufficiently rich (SR) requirements on the demand
signal. The robustness of the control schemes with bounded
disturbances is also investigated. The developed methods are
finally tested via simulations.
| Translated title of the contribution | Robust Adaptive Finite-Time Parameter Estimation and Control of Nonlinear Systems |
|---|---|
| Original language | English |
| Title of host publication | 2011 IEEE Multi-Conference on Systems and Control, Denver |
| Pages | 1014-1019 |
| Number of pages | 6 |
| DOIs | |
| Publication status | Published - 2011 |