An I&I Adaptive Redesign Approach for Asymptotic Stability without PE
- Publisher:
- Elsevier
- Publication Type:
- Journal Article
- Citation:
- IFAC-PapersOnLine, 2023, 56, (1), pp. 264-269
- Issue Date:
- 2023-01-01
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This paper proposes an adaptation redesign approach of the immersion and invariance (I&I) adaptive control to achieve asymptotic stability of the controlled plant and the parameter estimator at the desired equilibrium. The key idea is to employ the technique of generalized parameter estimation-based observer on the parameter estimation error dynamics by applying the indirect I&I adaptive control scheme, yielding a linear regression equation, from which the adaptive law can be redesigned. As a result, it is shown that globally exponential parameter convergence can be guaranteed under an interval excitation (IE) condition, which is much weaker than the conventionally required persistent excitation. Under a stabilizability assumption, an adaptation-redesigned feedback control law can be designed to achieve global asymptotic stability at the desired equilibrium point under the IE condition. The proposed adaptive control approach is applied to a class of parameteric strict-feedback systems without overparameterization, which is needed by the standard I&I adaptive control.
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