Integral concurrent learning: adaptive control with parameter convergence using finite excitation
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Abstract: Concurrent learning is a recently developed adaptive update scheme that can be used to guarantee parameter convergence without requiring persistent excitation. However, this technique requires knowledge of state derivatives, which are usually not directly sensed and therefore must be estimated. A novel integral concurrent learning method is developed in this paper that removes the need to estimate state derivatives while maintaining parameter convergence properties. A Monte Carlo simulation illustrates improved robustness to noise compared to the traditional derivative formulation.
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- scientific article; zbMATH DE number 47864 (Why is no real title available?)
- scientific article; zbMATH DE number 810021 (Why is no real title available?)
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Cited in
(28)- Lagrangian-based online safe reinforcement learning for state-constrained systems
- Data-based reinforcement learning approximate optimal control for an uncertain nonlinear system with control effectiveness faults
- The occupation kernel method for nonlinear system identification
- Safe exploration in model-based reinforcement learning using control barrier functions
- Learning from adaptive control under relaxed excitation conditions
- A composite adaptive robust control for nonlinear systems with model uncertainties
- Approximate optimal influence over an agent through an uncertain interaction dynamic
- Concurrent learning adaptive control of linear systems with exponentially convergent bounds
- Temporal logic guided safe model-based reinforcement learning: a hybrid systems approach
- Improved performance of identification and adaptive control schemes using fractional operators
- Relaxed Excitation Conditions for Robust Identification and Adaptive Control Using Estimation with Memory
- Composite learning adaptive dynamic surface control for uncertain nonlinear strict‐feedback systems with fixed‐time parameter estimation under sufficient excitation
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- Predefined-time parameter estimation via modified dynamic regressor extension and mixing
- Behavior learning based distributed tracking control for human-in-the-loop multi-agent systems
- A novel recursive approach for online identification of continuous‐time switched nonlinear systems
- Model-based reinforcement learning for approximate optimal control with temporal logic specifications
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- Adaptive control of a class of nonlinear systems with guaranteed parameter estimation: a concurrent learning based approach
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- On adaptive continuous finite-time regulators for Euler-Lagrange systems
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- Unknown piecewise constant parameters identification with exponential rate of convergence
- Automatic reinforcement for robust model-free neurocontrol of robots without persistent excitation
- Robust adaptive extremum seeking control without persistence of excitation: theory to experiment
- Necessary and sufficient conditions for convergence of DREM-based estimators with applications in adaptive control
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