Two novel robust adaptive parameter estimation methods with prescribed performance and relaxed PE condition

Abstract

A novel 3D frequency domain SAGE algorithm with applications to parameter estimation in mmWave massive MIMO indoor channels SCIENCE CHINA Information Sciences 60, 080305 (2017);

Observer-based adaptive consensus control for nonlinear multi-agent systems with time-delay

“…Consider the nonlinear MASs (1) under Assumptions 1-3 and bounded initial conditions. Using the distributed consensus adaptive control laws (27), (37) and 44, NN weights updating laws (28), (29), (38) and (45), assuming that the leader has directed paths to all the followers, one has that the consensus tracking errors are CSUUB and all the signals in the closed-loop system remain bounded.…”

“…On the other hand, the distributed consensus problem is associated with the behaviour of a set of agents, and then it is natural to think about how to achieve prescribed performance attributes for nonlinear MASs [28,29]. As an effective method to quantitatively describe the transient and steady-state responses of the controlled systems, the prescribed performance control has been gradually adopted in practical systems in recent years [30][31][32].…”

Parameter estimation survey for multi-joint robot dynamic calibration case study

“…Some calculation methods [26] estimate parameters within feasible ranges, but some others [2] only ensure that the joint torques match with the measured ones. Some calculation methods [27] take a lot of time for solution and are only suitable for offline calculation, while some others [3] can meet the requirements of online calibration. Some calculation methods [6] are only suitable for linear models, while some others [28] can be used for nonlinear models and fit better with static friction.…”

“…Color online) The Efort ER20-C10 robot and D-H frames. Color online) Position trajectories of the six joints optimized according to(26) and(27). (a) Linear model (7); (b) nonlinear model (4).…”