Concurrent learning adaptive control with directional forgetting

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dc.contributor.authorLee, Hae-In
dc.contributor.authorShin, Hyosang
dc.contributor.authorTsourdos, Antonios
dc.date.accessioned2020-01-16T15:13:42Z
dc.date.available2020-01-16T15:13:42Z
dc.date.issued2019-04-17
dc.description.abstractThis 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.identifier.citationLee 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. 5164-5170en_UK
dc.identifier.issn0018-9286
dc.identifier.urihttps://doi.org/10.1109/TAC.2019.2911863
dc.identifier.urihttps://dspace.lib.cranfield.ac.uk/handle/1826/14933
dc.language.isoenen_UK
dc.publisherIEEEen_UK
dc.rightsAttribution-NonCommercial 4.0 International*
dc.rights.urihttp://creativecommons.org/licenses/by-nc/4.0/*
dc.subjectConcurrent learningen_UK
dc.subjectdirectional forgettingen_UK
dc.subjectmodel reference adaptive controlen_UK
dc.titleConcurrent learning adaptive control with directional forgettingen_UK
dc.typeArticleen_UK

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