Adaptive control with nonlinear filtering

Inference from stochastic processes and prediction (62M20) Control of mechanical systems (70Q05) Nonlinear systems in control theory (93C10) Adaptive control/observation systems (93C40) Discrete-time control/observation systems (93C55) Estimation and detection in stochastic control theory (93E10) Filtering in stochastic control theory (93E11)

Review text

Nonlinear filters are not commonly used in parameter adaptive control. They make, however, a noteworthy alternative especially when state space models and control algorithms are used. In practice most of the well- known nonlinear filters like the extended Kalman filter suffer computational complexity and robustness problems. In the paper a filter is introduced which is not new but less well known and suffers less with these problems. Relationship with extended Kalman-type filters is shown. It is further shown how simultaneous state and parameter estimation can be done without using extended state techniques. Adaptive control design is based on a linear state space model and per interval quadratic performance index. A multivariable PI-type controller is obtained, the parameters of which can be easily calculated. As a case example application to servo control of a real life hydraulic manipulator is considered.

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