DDEKF learning for fast nonlinear adaptive inverse control

Adaptive inverse control (AIC) uses three adaptive filters: plant model, controller and disturbance canceler. Methods are known for quick and efficient training of these filters if the plant is linear; however, known methods for nonlinear AIC learn very slowly. This paper modifies the standard nonlinear AIC learning methods (based on real-time recurrent learning) using the dynamic-decoupled-extended Kalman-filter (DDEKF). The training becomes significantly faster.