Related papers: Composite Learning Adaptive Control under Non-Pers…
Composite adaptive control (CAC) that integrates direct and indirect adaptive control techniques can achieve smaller tracking errors and faster parameter convergence compared with direct and indirect adaptive control techniques. However,…
This paper proposes a composite adaptive control architecture using dual adaptation scheme for dynamical systems comprising time-varying uncertain parameters. While majority of the adaptive control schemes in literature address the case of…
This paper proposes a new method to provide the exponential convergence of both the parameter and tracking errors of the composite adaptive control system without the persistent excitation (PE) requirement. Instead, the derived composite…
Adaptive control can be applied to robotic systems with parameter uncertainties, but improving its performance is usually difficult, especially under discontinuous friction. Inspired by the human motor learning control mechanism, an…
This paper proposes a composite learning backstepping control (CLBC) strategy based on modular backstepping and high-order tuners to achieve closed-loop exponential stability without high-gain feedback and PE. A novel composite learning…
This work presents a solution to the adaptive tracking control of Euler Lagrange systems with guaranteed tracking and parameter estimation error convergence. Specifically a concurrent learning based update rule fused by the filtered version…
In this paper, we propose several set-point control schemes for achieving finite-time regulation in a class of Euler--Lagrange systems with $n$ degrees of freedom and uncertain potential energy. The proposed controllers are based on…
A novel method of exponentially stable adaptive control to compensate for matched parametric uncertainty under a mild condition of semi-persistent excitation (s-PE) of a regressor with piecewise-constant rank and nullspace is proposed. It…
A novel method of an adaptive linear quadratic (LQ) regulation of uncertain continuous linear time-invariant systems is proposed. Such an approach is based on the direct self-tuning regulators design framework and the exponentially stable…
A continuous adaptive control design is developed for nonlinear dynamical systems with linearly parameterizable uncertainty involving time-varying uncertain parameters. The key feature of this design is a robust integral of the sign of the…
In this paper, a concurrent learning based adaptive observer is developed for a class of second-order nonlinear time-invariant systems with uncertain dynamics. The developed technique results in simultaneous online state and parameter…
Composite adaptive control schemes, which use both the system tracking errors and the prediction error to drive the update laws, have become widespread in achieving an improvement of system performance. However, a strong…
This paper provides an exponential stability result for the adaptive anti-unwinding attitude tracking control problem of a rigid body with uncertain but constant inertia parameters, without requiring the satisfaction of persistent…
We address the tracking problem for a class of uncertain non-affine nonlinear systems with high relative degrees, performing non-repetitive tasks. We propose a rigorously proven, robust adaptive learning control scheme that relies on a…
In this paper we consider trajectory tracking problem for robotic systems affected by unknown external perturbations. Considering possible solutions, we restrict our attention to composite adaptation, which, particularly, ensures parametric…
Recently, adaptive control systems with relaxed persistent excitation (PE) conditions have been proposed to guarantee true parameter convergence and improve the transient response. However, in some cases, sufficient control performance and…
Driven by the flexible manufacturing trend in the process control industry and the uncertain nature of chemical process models, this article aims to achieve offset-free tracking for a family of uncertain nonlinear systems (e.g., using…
The parameter convergence relies on a stringent persistent excitation (PE) condition in adaptive control. Several works have proposed a memory term in the last decade to translate the PE condition to a feasible finite excitation (FE)…
We present the stability analysis for the new regulation-triggered approach to adaptive control introduced in a companion paper. Due to the fact that the closed-loop system is hybrid, our proofs have essential differences from the…
A problem of identification of piecewise-constant unknown parameters of a linear regression equation (LRE) is considered. Such parameters change their values over the interval of the regressor finite (rather than persistent) excitation. To…