Exponentially Stable Combined Adaptive Control under Finite Excitation Condition
Fuente:
arXiv
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| Autori principali: | , |
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| Natura: | Preprint |
| Pubblicazione: |
2025
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| _version_ | 1866916810376347648 |
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| author | Patel, Manish Maity, Arnab |
| author_facet | Patel, Manish Maity, Arnab |
| contents | The parameter convergence relies on a stringent persistent excitation (PE) condition in adaptive control. Several works have proposed a memory term in the last decade to translate the PE condition to a feasible finite excitation (FE) condition. This work proposes a combined model reference adaptive control for a class of uncertain nonlinear systems with an unknown control effectiveness vector. The closed-loop system is exponentially stable under the FE condition. The exponential rate of convergence is independent of the excitation level of the regressor vector and is lower-bounded in terms of the system parameters and user-designed gains. Numerical simulation is illustrated, validating the results obtained with the proposed adaptive control. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2502_02347 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Exponentially Stable Combined Adaptive Control under Finite Excitation Condition Patel, Manish Maity, Arnab Systems and Control The parameter convergence relies on a stringent persistent excitation (PE) condition in adaptive control. Several works have proposed a memory term in the last decade to translate the PE condition to a feasible finite excitation (FE) condition. This work proposes a combined model reference adaptive control for a class of uncertain nonlinear systems with an unknown control effectiveness vector. The closed-loop system is exponentially stable under the FE condition. The exponential rate of convergence is independent of the excitation level of the regressor vector and is lower-bounded in terms of the system parameters and user-designed gains. Numerical simulation is illustrated, validating the results obtained with the proposed adaptive control. |
| title | Exponentially Stable Combined Adaptive Control under Finite Excitation Condition |
| topic | Systems and Control |
| url | https://arxiv.org/abs/2502.02347 |