2021/02/20 by Anton Glushchenko, Glushchenko, Anton, Vladislav Petrov +3
Computer Science · Engineering · #Adaptive Control of Nonlinear Systems #Distributed Control Multi-Agent Systems #Extremum Seeking Control Systems #FOS: Electrical engineering #Systems and Control (eess.SY) #electronic engineering #information engineering
paper · pdf · doi:10.48550/arxiv.2102.10359
openalex publication_date 2021/02/20 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28
This paper proposes a new method to provide the exponential convergence of\nboth the parameter and tracking errors of the composite adaptive control system\nwithout the persistent excitation (PE) requirement. Instead, the derived\ncomposite adaptive law ensures the above-mentioned properties under the\nstrictly weaker finite excitation (FE) condition. Unlike known solutions, in\naddition to the PE requirement relaxation, it provides better transient\nresponse under jump change of the plant uncertainty parameters. To derive such\nan adaptive law, a novel scheme of uncertainty filtration with resetting is\nproposed, which provides the required properties of the control system. A\nrigorous proof of all mentioned properties of the developed adaptive law is\npresented. Such law is compared with the known composite ones, which also relax\nthe PE requirement, using the wing-rock problem to conduct numerical\nexperiments. The obtained results fully support the theoretical analysis and\ndemonstrate the advantages of the proposed method.\n