Concurrent learning adaptive control of linear systems with noisy measurements

Maximilian M̈uhlegg, Girish Chowdhary, Eric Johnson

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

15 Scopus citations

Abstract

Direct model reference adaptive control of linear uncertain dynamic systems with concurrent learning update laws in the presence of noisy measurements is investigated. Previous results have shown that in the absence of noise, concurrent learning adaptive controllers, which use specifically selected and online recorded data concurrently with instantaneous data for adaptation, can guarantee exponential tracking and weight error convergence without requiring persistency of excitation. Here the robustness of a concurrent learning adaptive controller to noisy measurements is established. A Lyapunov framework is employed to show boundedness of tracking and weight error dynamics in a compact ball around the origin in the presence of bounded measurement noise. Furthermore, it is shown that when concurrent learning is used, additional modification terms such as - or e-modification are not required for guaranteeing robustness in the presence of noise. Numerical simulations and experimental results demonstrate improved performance.

Original languageEnglish (US)
Title of host publicationAIAA Guidance, Navigation, and Control Conference 2012
StatePublished - Dec 1 2012
EventAIAA Guidance, Navigation, and Control Conference 2012 - Minneapolis, MN, United States
Duration: Aug 13 2012Aug 16 2012

Publication series

NameAIAA Guidance, Navigation, and Control Conference 2012

Other

OtherAIAA Guidance, Navigation, and Control Conference 2012
CountryUnited States
CityMinneapolis, MN
Period8/13/128/16/12

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All Science Journal Classification (ASJC) codes

  • Aerospace Engineering
  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Cite this

M̈uhlegg, M., Chowdhary, G., & Johnson, E. (2012). Concurrent learning adaptive control of linear systems with noisy measurements. In AIAA Guidance, Navigation, and Control Conference 2012 (AIAA Guidance, Navigation, and Control Conference 2012).