A singular value maximizing data recording algorithm for concurrent learning

Girish Chowdhary, Eric Johnson

Research output: Chapter in Book/Report/Conference proceedingConference contribution

68 Scopus citations

Abstract

We present a singular value maximizing algorithm for recording data to be used by concurrent learning adaptive controllers. These controllers use recorded and current data concurrently and can have exponential stability guarantees, with the rate of convergence directly proportional to the minimum singular value of the matrix containing recorded data. The presented algorithm selects data for recording to improve the minimum singular value, and hence results in improved tracking performance, this is established through comparison with previously studied data recording methods that record points that are sufficiently different.

Original languageEnglish (US)
Title of host publicationProceedings of the 2011 American Control Conference, ACC 2011
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages3547-3552
Number of pages6
ISBN (Print)9781457700804
DOIs
StatePublished - 2011

Publication series

NameProceedings of the American Control Conference
ISSN (Print)0743-1619

All Science Journal Classification (ASJC) codes

  • Electrical and Electronic Engineering

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