Memory-Augmented System Identification With Finite-Time Convergence

This letter presents a memory-augmented system identifier with finite-time convergence for continuous-time uncertain nonlinear systems. A memory of events with significant effect on the performance of the identifier is formed, and reuse of historic data is leveraged in the identifier’s update law to guarantee that the identifier’s error converges to zero in finite time. An easy-to-check and verifiable metric defined on samples collected along the system’s trajectories is provided to certify the finite-time convergence. The robustness of the proposed identifier to mismatched modeling error is analyzed. Finally, a simulation example verifies the efficiency of the proposed identifier.

[1]  Somil Bansal,et al.  Generating Robust Supervision for Learning-Based Visual Navigation Using Hamilton-Jacobi Reachability , 2020, L4DC.

[2]  George J. Pappas,et al.  Finite Sample Analysis of Stochastic System Identification , 2019, 2019 IEEE 58th Conference on Decision and Control (CDC).

[3]  Sumit Kumar Jha,et al.  Initial Excitation-Based Iterative Algorithm for Approximate Optimal Control of Completely Unknown LTI Systems , 2019, IEEE Transactions on Automatic Control.

[4]  Indra Narayan Kar,et al.  Composite Adaptive Control of Uncertain Euler‐Lagrange Systems with Parameter Convergence without PE Condition , 2018, Asian Journal of Control.

[5]  Kyriakos G. Vamvoudakis,et al.  Optimal distributed learning for disturbance rejection in networked non‐linear games under unknown dynamics , 2019, IET Control Theory & Applications.

[6]  Anuradha M. Annaswamy,et al.  Fast Parameter Convergence in Adaptive Flight Control , 2020 .

[7]  Charalampos P. Bechlioulis,et al.  Output Feedback Approximation-Free Prescribed Performance Tracking Control for Uncertain MIMO Nonlinear Systems , 2020, IEEE Transactions on Automatic Control.

[8]  Samet Oymak,et al.  Non-asymptotic Identification of LTI Systems from a Single Trajectory , 2018, 2019 American Control Conference (ACC).

[9]  J. Cortés.  Discontinuous dynamical systems , 2008, IEEE Control Systems.

[10]  Biao Huang,et al.  System Identification , 2000, Control Theory for Physicists.

[11]  Wei Lin,et al.  Global finite-time stabilization of a class of uncertain nonlinear systems , 2005, Autom..

[12]  George J. Pappas,et al.  A Framework for Worst-Case and Stochastic Safety Verification Using Barrier Certificates , 2007, IEEE Transactions on Automatic Control.

[13]  Girish Chowdhary,et al.  Design and Flight Evaluation of Deep Model Reference Adaptive Controller , 2020 .

[14]  Moosa Ayati,et al.  Disturbance-observer-based fuzzy terminal sliding mode control for MIMO uncertain nonlinear systems , 2019, Applied Mathematical Modelling.

[15]  Magnus Egerstedt,et al.  Control of Multi-Agent Systems with Finite Time Control Barrier Certificates and Temporal Logic , 2018, 2018 IEEE Conference on Decision and Control (CDC).

[16]  Frank L. Lewis,et al.  Adaptive Optimal Control of Unknown Constrained-Input Systems Using Policy Iteration and Neural Networks , 2013, IEEE Transactions on Neural Networks and Learning Systems.

[17]  Girish Chowdhary,et al.  Concurrent Learning for Parameter Estimation Using Dynamic State-Derivative Estimators , 2015, IEEE Transactions on Automatic Control.

[18]  Miroslav Krstic.  On using least-squares updates without regressor filtering in identification and adaptive control of nonlinear systems , 2009, Autom..

[19]  Munther A. Dahleh,et al.  On system identification of complex systems from finite data , 2001, IEEE Trans. Autom. Control..

[20]  Petre Stoica,et al.  Decentralized Control , 2018, The Control Systems Handbook.

[21]  Indra Narayan Kar,et al.  Parameter convergence via a novel PI-like composite adaptive controller for uncertain Euler-Lagrange systems , 2016, 2016 IEEE 55th Conference on Decision and Control (CDC).

[22]  Dimitra Panagou,et al.  Prescribed-time Convergence with Input Constraints: A Control Lyapunov Function Based Approach , 2019, 2020 American Control Conference (ACC).

[23]  Girish Chowdhary,et al.  Concurrent learning for convergence in adaptive control without persistency of excitation , 2010, 49th IEEE Conference on Decision and Control (CDC).

[24]  Xinghuo Yu,et al.  Fast terminal sliding-mode control design for nonlinear dynamical systems , 2002 .