Title :
Adaptive Kriging control of discrete-time nonlinear systems
Author :
Wu, H. ; Sun, F.
Author_Institution :
Dept. of Comput. Sci. & Technol., Tsinghua Univ., Beijing
fDate :
5/1/2007 12:00:00 AM
Abstract :
A novel adaptive Kriging controller for a class of discrete-time nonlinear systems with known control gains is proposed. The dynamic models of the systems may involve uncertainties that can be described as realizations of Gaussian random functions. The Kriging system is used to approximate the uncertainties, and an adaptive control law is established so that the tracking error remains bounded. To eliminate the infinite increase of the data size in the Kriging system, which usually occurs in non-parametric estimator-based adaptive controllers, a recursive Kriging estimation algorithm is proposed. In addition, the application of the proposed control scheme is extended to the case of uncertain control gain. Finally, some numerical examples are given to show the viability and effectiveness of the proposed control approach
Keywords :
Gaussian processes; adaptive control; discrete time systems; nonlinear control systems; random processes; recursive estimation; statistical analysis; uncertain systems; Gaussian random functions; adaptive Kriging controller; adaptive control law; control gains; discrete-time nonlinear systems; dynamic models; nonparametric estimator-based adaptive controllers; recursive Kriging estimation algorithm; tracking error; uncertainties;
Journal_Title :
Control Theory & Applications, IET
