Finite-Time Stability of Adaptive Parameter Estimation and Control

2018/11/27 by Kunal Garg, Garg, Kunal, Parag Bobade +3
Computer Science · Engineering · #Adaptive Control of Nonlinear Systems #Adaptive Dynamic Programming Control #Advanced Control Systems Optimization #FOS: Mathematics #Optimization and Control (math.OC)

paper · pdf · doi:10.48550/arxiv.1811.11151

openalex publication_date 2018/11/27 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28

Abstract

This paper presents extensions of finite-time stability results to some prototypical adaptive control and estimation frameworks. First, we present a novel scheme of online parameter estimation that guarantees convergence of the estimation error in a fixed time under a relaxed persistence of excitation condition. Subsequently, we design a novel Model Reference Adaptive Control (MRAC) for a scalar system with finite-time convergence guarantees for both the state- and the parameter-error. Lastly, for a general class of strict-feedback systems with unknown parameters, we propose a finite-time stabilizing control based on adaptive backstepping techniques. We also present some numerical examples demonstrating the efficacy of our scheme.

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