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Efficient learning from adaptive control under sufficient excitation
Author(s) -
Pan Yongping,
Aranovskiy Stanislav,
Bobtsov Alexey,
Yu Haoyong
Publication year - 2019
Publication title -
international journal of robust and nonlinear control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.361
H-Index - 106
eISSN - 1099-1239
pISSN - 1049-8923
DOI - 10.1002/rnc.4541
Subject(s) - control theory (sociology) , robustness (evolution) , adaptive control , computer science , convergence (economics) , forgetting , flexibility (engineering) , mathematical optimization , stability (learning theory) , estimation theory , control (management) , mathematics , artificial intelligence , algorithm , machine learning , statistics , biochemistry , chemistry , linguistics , philosophy , economics , gene , economic growth
Summary Parameter convergence is desirable in adaptive control as it enhances the overall stability and robustness properties of the closed‐loop system. In existing online historical data (OHD)–driven parameter learning schemes, all OHD are exploited to update parameter estimates such that parameter convergence is guaranteed under a sufficient excitation (SE) condition which is strictly weaker than the classical persistent excitation condition. Nevertheless, the exploitation of all OHD not only results in possible unbounded adaptation but also loses the flexibility of handling slowly time‐varying uncertainties. This paper presents an efficient OHD‐driven parameter learning scheme for adaptive control, where a variable forgetting factor is specifically designed and is equipped with an estimation error feedback such that exponential parameter convergence is achieved under the SE condition without the aforesaid drawbacks. The proposed parameter learning scheme is incorporated with direct adaptive control to construct an OHD‐based composite learning control strategy. Numerical results have verified the effectiveness of the proposed approach.