Robust adaptive finite-time parameter estimation and control of nonlinear systems

Jing Na*, Guido Herrmann, Xuemei Ren, Muhammad Nasiruddin Mahyuddin, Phil Barber

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

81 Citations (Scopus)

Abstract

This paper exploits an alternative adaptive parameter estimation and control approach for nonlinear systems. An auxiliary filter is developed to derive a representation of the parameter estimation error, which is combined with an adaptive law to guarantee the exponential convergence of the control error as well as the estimation error. The proposed method is further improved via a sliding mode technique to achieve the finite-time (FT) error convergence. The traditional persistent excitation (PE) is simplified as an a priori verifiable sufficiently rich (SR) requirements on the demand signal. The robustness of the control schemes with bounded disturbances is also investigated. The developed methods are finally tested via simulations.

Original languageEnglish
Title of host publication2011 IEEE International Symposium on Intelligent Control, ISIC 2011
Pages1014-1019
Number of pages6
DOIs
Publication statusPublished - 2011
Event2011 IEEE International Symposium on Intelligent Control, ISIC 2011 - Denver, CO, United States
Duration: 28 Sept 201130 Sept 2011

Publication series

NameIEEE International Symposium on Intelligent Control - Proceedings

Conference

Conference2011 IEEE International Symposium on Intelligent Control, ISIC 2011
Country/TerritoryUnited States
CityDenver, CO
Period28/09/1130/09/11

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