Concurrent Learning-Based Adaptive Output Feedback Control of a Class of Nonlinear Systems With Guaranteed Parameter Estimation

• 成果类型: Article
• 署名作者: Zergeroglu, Erkan; Tatlicioglu, Enver; Obuz, Serhat
• 署名单位: Gebze Technical University; Ege University; Tarsus University
• 刊物名称: IEEE TRANSACTIONS ON AUTOMATIC CONTROL
• ISSN/ISSBN: 0018-9286
• DOI: 10.1109/TAC.2025.3639884
• 发表日期: 2026
• 关键词: ROBOT CONTROL; tracking controller; stabilization; Manipulators

摘要

This work presents a novel solution to adaptive output feedback position tracking control of a class of nonlinear systems with guaranteed dynamical parameter estimation. Specifically, a concurrent learning-based update rule fused by the filtered version of the desired system dynamics in conjunction with a desired state-based regression matrix have been utilized to ensure that both the position tracking error and parameter estimation error terms converge to origin exponentially while requiring only the position measurements. To the best knowledge of the authors, the proposed method is the first adaptive output feedback controller with guaranteed parameter convergence without needing to satisfy the persistence of excitation condition.