TR2014-064

Learning-based Adaptive Control for Nonlinear Systems


    •  Benosman, M., "Learning-based Adaptive Control for Nonlinear Systems", European Control Conference (ECC), DOI: 10.1109/ECC.2014.6862378, June 2014, pp. 920-925.
      BibTeX TR2014-064 PDF
      • @inproceedings{Benosman2014jun,
      • author = {Benosman, M.},
      • title = {Learning-based Adaptive Control for Nonlinear Systems},
      • booktitle = {European Control Conference (ECC)},
      • year = 2014,
      • pages = {920--925},
      • month = jun,
      • publisher = {IEEE},
      • doi = {10.1109/ECC.2014.6862378},
      • isbn = {978-3-9524269-1-3},
      • url = {https://www.merl.com/publications/TR2014-064}
      • }
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  • Research Areas:

    Control, Optimization, Dynamical Systems

We present in this paper a preliminary result on learning-based adaptive trajectory tracking control for nonlinear systems. We propose, for the class of nonlinear systems with parametric uncertainties which can be rendered integral Input-to-State stable w.r.t. the parameter estimation errors input, that it is possible to merge together the integral Input-to-State stabilizing feedback controller and a model-free extremum seeking (ES) algorithm to realize a learning-based adaptive controller. We show the efficiency of this approach on a mechatronic example.