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Adaptive Kriging control of discrete-time nonlinear systems

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2 Author(s)
H. Wu ; Dept. of Comput. Sci. & Technol., Tsinghua Univ., Beijing ; F. Sun

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

Published in:

IET Control Theory & Applications  (Volume:1 ,  Issue: 3 )