Concurrent Learning-Based Adaptive Output Feedback Control of a Class of Nonlinear Systems With Guaranteed Parameter Estimation
Makaleler > Tam Makale · 2025
Yazarlar: ERKAN ZERGEROĞLU, Enver TATLICIOĞLU, SERHAT OBUZ
IEEE Transactions on Automatic Control, SCI Expanded İndekslerine Giren Dergi, Uluslararası, Wos, 2025, cilt 71, ss 3448-3454
Özet
This work presents a novel solution to adaptive output feedback position tracking control of a class of nonlinear systems with guaranteed dynamical parameter estimation. Specifically, a concurrent learning-based update rule fused by the filtered version of the desired system dynamics in conjunction with a desired state-based regression matrix have been utilized to ensure that both the position tracking error and parameter estimation error terms converge to origin exponentially while requiring only the position measurements. To the best knowledge of the authors, the proposed method is the first adaptive output feedback controller with guaranteed parameter convergence without needing to satisfy the persistence of excitation condition.