Performance Improvement in Adaptive Control of Linearly Parameterized Nonlinear Systems

This technical note demonstrates how the finite-time identification procedure can be used to improve the overall performance of adaptive control systems. First, we develop an adaptive compensator which guarantees exponential convergence of the estimation error provided the integral of a filtered regressor matrix is positive definite. The approach does not involve online checking of matrix invertibility and computation of matrix inverse nor switching between parameter estimation methods. The convergence rate of the parameter estimator is directly proportional to the adaptation gain and a measure of the system´s excitation. The adaptive compensator is then combined with existing adaptive controllers to guarantee exponential stability of the closed-loop system. The effectiveness of the proposed method is illustrated with a simulation example.