Title :
Exponential tracking error convergence bounds for overparametrized adaptive feedforward systems
Author :
Bayard, David S.
Author_Institution :
Jet Propulsion Lab., California Inst. of Technol., Pasadena, CA, USA
Abstract :
Many practical adaptive feedforward systems are overparametrized and for this reason will not satisfy persistent excitation (PE) conditions. For these systems, a weaker PE condition is proposed under which it is shown that the tracking error (the error between the desired and estimated outputs) converges exponentially. Bounds are given on the exponential rate of convergence useful for systematic optimization and design purposes. Interestingly, it is also shown that some (but not all) of the robustness properties associated with full PE are retained under the weakened PE condition
Keywords :
adaptive control; convergence; feedforward; robust control; tracking; exponential convergence bounds; overparametrized adaptive feedforward systems; persistent excitation conditions; robustness properties; tracking error; Adaptive filters; Adaptive systems; Convergence; Feedforward systems; Filtering; Laboratories; Nonlinear filters; Propulsion; Robustness; Vectors;
Conference_Titel :
American Control Conference, 1998. Proceedings of the 1998
Conference_Location :
Philadelphia, PA
Print_ISBN :
0-7803-4530-4
DOI :
10.1109/ACC.1998.694741