TR2014-085

Extremum Seeking-based Indirect Adaptive Control for Nonlinear Systems


We present in this paper a preliminary result on extremum seeking (ES)-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 (iISS) 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 algorithm to realize a learning-based indirect adaptive controller. We show the efficiency of this approach on a mechatronic example.

 

  • Related Publications

  •  Benosman, M., Xia, M., "Extremum Seeking-Based Indirect Adaptive Control for Nonlinear Systems with State-Dependent Uncertainties", SIAM Conference on Control and its Applications, DOI: 10.1137/1.9781611974072.44, July 2015, pp. 319-326.
    BibTeX TR2015-068 PDF
    • @inproceedings{Benosman2015jul,
    • author = {Benosman, M. and Xia, M.},
    • title = {Extremum Seeking-Based Indirect Adaptive Control for Nonlinear Systems with State-Dependent Uncertainties},
    • booktitle = {SIAM Conference on Control and its Applications},
    • year = 2015,
    • pages = {319--326},
    • month = jul,
    • doi = {10.1137/1.9781611974072.44},
    • isbn = {978-1-61197-407-2},
    • url = {https://www.merl.com/publications/TR2015-068}
    • }
  •  Xia, M., Benosman, M., "Extremum Seeking-Based Indirect Adaptive Control for Nonlinear Systems with Time-Varying Uncertainties", European Control Conference (ECC), DOI: 10.1109/ECC.2015.7330959, July 2015, pp. 2780-2785.
    BibTeX TR2015-042 PDF
    • @inproceedings{Xia2015jul,
    • author = {Xia, M. and Benosman, M.},
    • title = {Extremum Seeking-Based Indirect Adaptive Control for Nonlinear Systems with Time-Varying Uncertainties},
    • booktitle = {European Control Conference (ECC)},
    • year = 2015,
    • pages = {2780--2785},
    • month = jul,
    • doi = {10.1109/ECC.2015.7330959},
    • url = {https://www.merl.com/publications/TR2015-042}
    • }