Concurrent learning adaptive control with directional forgetting

Show simple item record Lee, Hae-In Shin, Hyo-Sang Tsourdos, Antonios 2020-01-16T15:13:42Z 2020-01-16T15:13:42Z 2019-04-17
dc.identifier.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 en_UK
dc.identifier.issn 0018-9286
dc.description.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. en_UK
dc.language.iso en en_UK
dc.publisher IEEE en_UK
dc.rights Attribution-NonCommercial 4.0 International *
dc.rights.uri *
dc.subject Concurrent learning en_UK
dc.subject directional forgetting en_UK
dc.subject model reference adaptive control en_UK
dc.title Concurrent learning adaptive control with directional forgetting en_UK
dc.type Article en_UK

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