On Incremental Adaptive Strategies

  • Mingxuan Sun
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 7996)


In this paper, we propose in a continuous-time framework incremental adaptation strategies for parametric uncertain systems. The issue of the bounded estimation is posed by considering merely the case of unsaturated adaptation. The partially- or fully-saturated adaptation laws are characterized analytically, to illustrate the flexibility in choice of adaptation laws. The presented analysis shows the asymptotic convergence of the system undertaken.


Incremental adaptation saturated adaptive algorithms adaptive control continuous-time systems 


Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.


  1. 1.
    Krstic, M., Kanellakopoulos, I., Kokotovic, P.V.: Nonlinear and Adaptive Control Design. Wiley, NY (1995)Google Scholar
  2. 2.
    Ioannou, P.A., Sun, J.: Robust Adaptive Control. Prentice-Hall, Upper Saddle River (1996)zbMATHGoogle Scholar
  3. 3.
    Sadegh, N., Horowitz, R., Kao, W.W., Tomizuka, M.: A unified approach to design of adaptive and repetitive controllers for robotic manipulators. ASME Journal of Dynamic Systems Measurement Control 112, 618–629 (1990)CrossRefGoogle Scholar
  4. 4.
    Moore, J.B., Horowitz, R., Messner, W.: Functional persistence of excitation and observability for learning control systems. ASME Journal of Dynamic Systems Measurement Control 114, 500–507 (1992)zbMATHCrossRefGoogle Scholar
  5. 5.
    Jiang, Y.A., Clements, D.J., Hesketh, T.: Adaptive repetitive control of nonlinear systems. In: Proceedings of the 34th Conference on Decision & Control, New Orleans, LA, pp. 1708–1713 (1995)Google Scholar
  6. 6.
    Dixon, W.E., Zergeroglu, E., Dawson, D.M., Costic, B.T.: Repetitive learning control: A Lyapunov-based approach. IEEE Transactions on Systems, Man, and Cybernetics 32, 538–545 (2002)CrossRefGoogle Scholar
  7. 7.
    Sun, M., Ge, S.S.: Adaptive rejection of periodic & non-periodic disturbances for a class of nonlinearly parametrized systems. In: Proceedings of the 2004 American Control Conference, Boston, Massachusetts, June 30-July 2, pp. 1229–1234 (2004)Google Scholar
  8. 8.
    Sun, M., Ge, S.S.: Adaptive repetitive control for a class of nonlinearly parametrized systems. IEEE Transactions on Automatic Control 51, 1684–1688 (2006)MathSciNetCrossRefGoogle Scholar
  9. 9.
    Sun, M.: Adaptive controller designs for nonlinear periodic systems. In: Proceedings of 2009 IEEE International Conference on Intelligent Computing and Intelligent Systems, Shanghai, China, November 20-22, pp. 798–802 (2009)Google Scholar
  10. 10.
    Sun, M.: Partial-period adaptive repetitive control by symmetry. Automatica 48, 2137–2144 (2012)zbMATHCrossRefGoogle Scholar

Copyright information

© Springer-Verlag Berlin Heidelberg 2013

Authors and Affiliations

  • Mingxuan Sun
    • 1
  1. 1.College of Information EngineeringZhejiang University of TechnologyHangzhouChina

Personalised recommendations