Adaptive control of a surface marine craft with parameter identification using integral concurrent learning

Observer-Side Parameter Estimation For Adaptive Control

“…Examples of application-specific adaptive control designs that ignore actuator dynamic uncertainties are [7] and [15]. Some results like [16] do handle unmatched uncertainties, but since that is not the focus of this thesis, we will not discuss their complexities here.…”

“…It is highly nonlinear in the state, but linear in the parameters. This system was chosen because [7] uses OCL (specifically, integral concurrent learning) to tackle the same problem. The state and control input are,…”

“…The results in [7] assume exact state knowledge, so we will allow that in our first few simulations here too. Afterward we will examine simulations where only noisy measurements of the state are available (via some noisy "state sensor").…”

“…To compensate, strong results come paired with experiments that demonstrate their algorithm's success in the real world, where noisy output sensors and a stochastic observer are used, even though the mathematical development does not consider them (e.g. [7]).…”