Active identification for discrete-time nonlinear control. II.Strict-feedback systems

摘要

For Part I, see ibid., vol. 47, no. 2, pp. 210-24 (2002). Presents a novel adaptive control design procedure for discrete-time nonlinear systems that can be transformed into the parametric-strict feedback form. This procedure utilizes the tools that were introduced in Part I, namely temporal separation of the parameter estimation task from the control task, the implementation of an active identification procedure through a recursive orthogonalized projection estimator and an input selection algorithm that guarantees complete identification in finite time. However, compared to the output-feedback case presented in Part I, the active identification task is now further complicated by the fact that the nonlinearities are allowed to depend on all states, not just the output. This requires a significant modification of the input selection procedure, which utilizes all the measured states to guarantee that the identification task will be completed in less time than in the output-feedback case