Adaptive learning control for nonlinear systems: A single learning estimation scheme is enough. (March 2023)

• Record Type: Journal Article
• Authors: Verrelli, Cristiano Maria; Tomei, Patrizio
• Is Part Of: Automatica. Volume 149(2023)
• Publication Date: 2023-03
• Subjects: Output tracking -- Extended matching -- Learning control; Automatic control -- Periodicals; Automation -- Periodicals; 629.805
• DOI: 10.1016/j.automatica.2022.110833
• Languages: English
• ISSNs: 0005-1098

Abstract

Abstract: In this brief, continuous-time nonlinear systems with extended matching uncertainties are considered. The problem of designing a state-feedback adaptive learning control of reduced complexity — just including a single adaptive learning estimation scheme in the upper subsystem and a high-gain proportional action in the input channel — is addressed. By properly setting the control parameters, exponential output tracking of (sufficiently smooth) periodic reference signals with a known period is achieved. Fourier series expansions are used and estimates of the resulting Fourier coefficients are continuously adapted based on the persistency of excitation conditions that naturally hold due to the orthogonal nature of the sinusoidal basis functions.