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Adaptive approximation based control typically uses approximators with predefined basis functions. Recently, self-organizing approximators have been introduced that define the basis set during system operation. In exploration dependent self-organization methods, new locally supported basis elements were defined when existing basis elements were insufficiently excited. More recently, performance dependent...
This article is concerned with tracking control problems for nonlinear systems that are not affine in the control signal and that contain unknown nonlinearities in the system dynamic equations. This paper develops a piecewise linear approximation to the unknown functions during system operation. New control and parameter adaptation algorithms are designed and analyzed using Lyapunov-like methods....
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...
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