Concurrent learning adaptive control with directional forgetting

Date published

2019-04-17

Free to read from

Supervisor/s

Journal Title

Journal ISSN

Volume Title

Publisher

IEEE

Department

Type

Article

ISSN

0018-9286

Format

Citation

Lee H-I, Shin H-S, Tsourdos A. (2019) Concurrent learning adaptive control with directional forgetting. IEEE Transactions on Automatic Control, Volume 64, Issue 12, December 2019, pp. 5164-5170

Abstract

This paper proposes a new concurrent learning-based adaptive control algorithm. The main objective behind our proposition is to relax the persistent excitation requirement for the stability guarantee, while providing the ability to identify time-varying parameters. To achieve the objective, this paper designs a directional forgetting algorithm, which is then integrated with the adaptive law. The theoretical stability analysis shows that the tracking and parameter estimation error is exponentially stable with the signal only finitely excited, not persistently excited. The analysis also shows that the proposed algorithm can guarantee the stability under time-varying parameters. Moreover, the necessary and sufficient conditions for the stability given the time-varying parameters are derived. The results of numerical simulations confirm the validity of the theoretical analysis results and demonstrate the performance of the proposed algorithm.

Description

Software Description

Software Language

Github

Keywords

Concurrent learning, directional forgetting, model reference adaptive control

DOI

Rights

Attribution-NonCommercial 4.0 International

Relationships

Relationships

Supplements

Funder/s