Adaptive Control of Discrete - Time Nonlinear Systems Combining Nonparametric and Parametric Estimators
نویسنده
چکیده
In this paper, a new adaptive control law combining nonparametric and parametric estimators is proposed to control stochastic d-dimensional discrete-time nonlinear models of the form Xn+1 = f(Xn) + Un + εn+1. The unknown function f is assumed to be parametric outside a given domain of Rd and fully nonparametric inside. The nonparametric part of f is estimated using a kernel-based method and the parametric one is estimated using the weighted least squares estimator. The asymptotic optimality of the tracking is established together with some convergence results for the estimators of f .
منابع مشابه
Adaptive Estimation and Control for Systems with Parametric and Nonparametric Uncertainties
Adaptive control has been developed for decades, and now it has become a rigorous and mature discipline which mainly focuses on dealing parametric uncertainties in control systems, especially linear parametric systems. Nonparametric uncertainties were seldom studied or addressed in the literature of adaptive control until new areas on exploring limitations and capability of feedback control eme...
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