Concurrent learning for convergence in adaptive control without persistency of excitation
We show that for an adaptive controller that uses recorded and instantaneous data concurrently for adaptation, a verifiable condition on linear independence of the recorded data is sufficient to guarantee exponential tracking error and parameter error convergence. This condition is found to be less...
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| Published in | 49th IEEE Conference on Decision and Control (CDC) pp. 3674 - 3679 |
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| Main Authors | , |
| Format | Conference Proceeding |
| Language | English |
| Published |
IEEE
01.12.2010
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| Subjects | |
| Online Access | Get full text |
| ISBN | 142447745X 9781424477456 |
| ISSN | 0191-2216 |
| DOI | 10.1109/CDC.2010.5717148 |
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| Abstract | We show that for an adaptive controller that uses recorded and instantaneous data concurrently for adaptation, a verifiable condition on linear independence of the recorded data is sufficient to guarantee exponential tracking error and parameter error convergence. This condition is found to be less restrictive and easier to monitor than a condition on persistently exciting exogenous input signal required by traditional adaptive laws that use only instantaneous data for adaptation. |
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| AbstractList | We show that for an adaptive controller that uses recorded and instantaneous data concurrently for adaptation, a verifiable condition on linear independence of the recorded data is sufficient to guarantee exponential tracking error and parameter error convergence. This condition is found to be less restrictive and easier to monitor than a condition on persistently exciting exogenous input signal required by traditional adaptive laws that use only instantaneous data for adaptation. |
| Author | Chowdhary, Girish Johnson, Eric |
| Author_xml | – sequence: 1 givenname: Girish surname: Chowdhary fullname: Chowdhary, Girish email: Girish.Chowdhary@gatech.edu organization: Daniel Guggenheim Sch. of Aerosp. Eng., Georgia Inst. of Technol., Atlanta, GA, USA – sequence: 2 givenname: Eric surname: Johnson fullname: Johnson, Eric email: Eric.Johnson@ae.gatech.edu organization: Daniel Guggenheim Sch. of Aerosp. Eng., Georgia Inst. of Technol., Atlanta, GA, USA |
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| Snippet | We show that for an adaptive controller that uses recorded and instantaneous data concurrently for adaptation, a verifiable condition on linear independence of... |
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| StartPage | 3674 |
| SubjectTerms | Adaptation model Adaptive control Convergence Equations Mathematical model Parameter estimation Uncertainty |
| Title | Concurrent learning for convergence in adaptive control without persistency of excitation |
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