Adaptive control with nonlinear filtering
type: Item
instance of: scholarly article
title: Adaptive control with nonlinear filtering
zbMATH Open document ID: 0566.93037
DOI: 10.1016/0005-1098(85)90081-0
author: J. Selkäinaho
author: J. Soininen
author: Aarne Halme
published in: Automatica
publication date: 1985-01-01T00:00:00Z
review text: Nonlinear filters are not commonly used in parameter adaptive control. They make, however, a noteworthy alternative especially when state space models and control algorithms are used. In practice most of the well- known nonlinear filters like the extended Kalman filter suffer computational complexity and robustness problems. In the paper a filter is introduced which is not new but less well known and suffers less with these problems. Relationship with extended Kalman-type filters is shown. It is further shown how simultaneous state and parameter estimation can be done without using extended state techniques. Adaptive control design is based on a linear state space model and per interval quadratic performance index. A multivariable PI-type controller is obtained, the parameters of which can be easily calculated. As a case example application to servo control of a real life hydraulic manipulator is considered.
Mathematics Subject Classification ID: 93C40
Mathematics Subject Classification ID: 70Q05
Mathematics Subject Classification ID: 93E11
Mathematics Subject Classification ID: 62M20
Mathematics Subject Classification ID: 93C10
Mathematics Subject Classification ID: 93C55
Mathematics Subject Classification ID: 93E10
zbMATH DE Number: 3904440
zbMATH Keywords: Nonlinear filters
zbMATH Keywords: extended Kalman-type filters
zbMATH Keywords: simultaneous state and parameter estimation
zbMATH Keywords: Adaptive control design
zbMATH Keywords: multivariable PI-type controller
MaRDI profile type: Publication
full work available at URL: 0005-1098(85)90081-0
OpenAlex ID: W2008970359
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description: scientific article; zbMATH DE number 3904440