Experimental and comparative studies of unmodeled dynamics estimation algorithm

In this paper, the experimental and comparative studies on the decomposition algorithm and the increment estimation algorithm for unmodeled dynamics are studied, it has been confirmed that the increment estimation algorithm exhibits simple structure and the convenience of realization when maintaining the same estimation precision. With the above development, the unmodeled dynamics increment estimation algorithm and decomposition estimation algorithm are used in a nonlinear adaptive switching control. Simulation results confirm that the control algorithm based on the increment estimation algorithm of unmodeled dynamics exhibits simple structure when maintaining the same control performance.