Self-organizing approximation based control

Adaptive approximation based control typically uses approximators with a predefined set of basis functions. Recent methods, spatially dependent methods, have defined self-organizing approximators where new locally supported basis elements were incorporated when existing basis elements were insufficiently excited. In this article, performance dependent self-organizing approximators will be defined. The designer specifies positive tracking error criteria. The self-organizing approximation based controller then monitors the tracking performance and adds basis elements only as needed to achieve the tracking specification. The paper includes a complete stability analysis