A Q-modification neuroadaptive control architecture for discrete-time systems

This paper extends the new neuroadaptive control framework for continuous-time nonlinear uncertain dynamical systems based on a Q-modification architecture to discrete-time systems. As in the continuous-time case, the discrete-time update laws involve auxiliary terms, or Q-modification terms, predicated on an estimate of the unknown neural network weights which in turn involve a set of auxiliary equations characterizing a set of affine hyperplanes. In addition, we show that the Q-modification terms in the discrete-time update law are designed to minimize an error criterion involving a sum of squares of the distances between the update weights and the family of affine hyperplanes.