6 papers
Estimation of Unknown Parameters in Presence of Perturbations and Noises with Application to GPEBO Design
Anton Glushchenko, Konstantin Lastochkin
A problem of online estimation of unknown parameters is considered for a linear regression equation, which is affected by an additive perturbation that can be caused by measurement…
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…
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…
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…
Instrumental Variables based DREM for Online Asymptotic Identification of Perturbed Linear Systems
Anton Glushchenko, Konstantin Lastochkin
Existing online continuous-time parameter estimation laws provide exact (asymptotic/exponential or finite/fixed time) identification of dynamical linear/nonlinear systems parameter…
Exact Asymptotic Estimation of Unknown Parameters of Perturbed LRE with Application to State Observation
Anton Glushchenko, Konstantin Lastochkin
Most identification laws of unknown parameters of linear regression equations (LRE) ensure only boundedness of a parametric error in the presence of additive perturbations, which i…