7 - Active identification for control of discrete-time uncertain nonlinear systems

Abstract

In recent years, a great deal of progress has been made in the area of adaptive control of continuous-time nonlinear systems. A novel approach is proposed to remove the restrictive growth conditions of the nonlinearities and to yield global stability and tracking for systems that can be transformed into an output-feedback canonical form. The main novelties of the design are the temporal and algorithmic separation of the parameter estimation task from the control task and the development of an active identification procedure, which uses the control input to actively drive the system state to points in the state space that allow the orthogonalized projection estimator to acquire all the necessary information about the unknown parameters. It is proved that the proposed algorithm guarantees complete identification in a finite time interval and global stability and tracking.