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eess.SY2024
Composite Adaptive Disturbance Rejection in Robotics via Instrumental Variables based DREM
Anton Glushchenko, Konstantin Lastochkin
In this paper we consider trajectory tracking problem for robotic systems affected by unknown external perturbations. Considering possible solutions, we restrict our attention to c…
eess.SY2024
Adaptive Reconstruction of Nonlinear Systems States via DREM with Perturbation Annihilation
Anton Glushchenko, Konstantin Lastochkin
A new adaptive observer is proposed for a certain class of nonlinear systems with bounded unknown input and parametric uncertainty. Unlike most existing solutions, the proposed app…
eess.SY2024
Unbiased Parameter Estimation via DREM with Annihilators
Anton Glushchenko, Konstantin Lastochkin
In adaptive control theory, the dynamic regressor extension and mixing (DREM) procedure has become widespread as it allows one to describe major of adaptive control problems in uni…