Finite-time Parameter Estimation in Adaptive Control of Nonlinear Systems

Adetola, Veronica; Guay, Martin

doi:10.1109/acc.2007.4283041

Cited by 44 publications

(92 citation statements)

References 13 publications

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“…Equations (11)- (14) form the framework of the parameter update law presented in [21], namely: (15) where proj τ, θ denotes a Lipschitz projection operator [22]. The projection operator is designed such that…”

Section: B Dynamics Of Agent Imentioning

confidence: 99%

Distributed extremum-seeking control over networks of dynamic agents

Guay

Vandermeulen

Dougherty³

et al. 2015

2015 American Control Conference (ACC)

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In this paper, a distributed extremum seeking control technique is proposed to solve a class of real-time optimization problems over a network of dynamic agents with unknown dynamics. Each dynamic agent measures a cost that is shared over a network. A dynamic average consensus approach is used to provide each agent with an estimate of the total network cost. Each agent contributes to the optimization of the total cost, in a cooperative fashion, under the action of an extremum seeking controller associated with each agent. The extremum seeking control technique is based on a proportionalintegral approach that avoids the explicit need for timescale separation. A dynamic network simulation is treated to demonstrate the effectiveness of the technique.

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Section: B Dynamics Of Agent Imentioning

confidence: 99%

Distributed extremum-seeking control over networks of dynamic agents

Guay

Vandermeulen

Dougherty³

et al. 2015

2015 American Control Conference (ACC)

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show abstract

“…This paper treats the problem of constrained control of nonlinear systems subject to parametric uncertainties. The approach proposed combines the adaptive compensator design presented in [1], an uncertain set estimation recently proposed in [2] (as well as in [3] in the context of model predictive control) and a constrained control approach [5]. The adaptive controller with compensator provides exponential convergence of the parameter estimation error when a sufficiently rich tracking signal is considered.…”

Section: Introductionmentioning

confidence: 99%

Adaptive control of state constrained nonlinear systems in strict feedback form

Guay

Bürger

2012

2012 American Control Conference (ACC)

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In this paper, we propose a systematic approach for the constructive design of adaptive control systems for nonlinear uncertain systems subject to state constraints. The analysis is restricted to a class of nonlinear systems in strict feedback form with respect to the state constraints. A novel adaptive estimation routine is employed to estimate both the unknown parameters and an approximate uncertainty sets, which is decreasing over time. The approximate uncertainty set is utilized to define a sequence of robustly controlled invariant sets which are strictly contained in the feasible set.

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“…There have been many contributions in parameter estimation of linear parameterized nonlinear systems. [17][18][19] In this paper, the novel parameter estimation routine 18 is applied with some modifications. The estimation results are guaranteed under the presence of modeling uncertainties and external disturbance.…”

Section: Introductionmentioning

confidence: 99%

Observer-based dynamic parameter identification for wheeled mobile robots

Hoang

Kang

2015

Int. J. Precis. Eng. Manuf.

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This paper presents a novel method for online dynamic parameter identification in wheeled mobile robots with nonholonomic constraints. First, the direct dynamic model of a mobile robot is obtained and reformulated in the linear form of dynamic parameters. Then, an adaptive estimation routine is proposed in order to identify the robot dynamic parameters with high accuracy and in finite time without requiring the measurement of the acceleration state vector. Based on Solidworks/ SimMechanics, a virtual prototype with the structure of a real mobile robot system is established to implement in the simulation. The simulation results demonstrate the effectiveness of the proposed approach for identifying the mobile robot dynamic parameters.

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Finite-time Parameter Estimation in Adaptive Control of Nonlinear Systems

Cited by 44 publications

References 13 publications

Distributed extremum-seeking control over networks of dynamic agents

Distributed extremum-seeking control over networks of dynamic agents

Adaptive control of state constrained nonlinear systems in strict feedback form

Observer-based dynamic parameter identification for wheeled mobile robots

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