Concurrent Learning for Parameter Estimation Using Dynamic State-Derivative Estimators

A concurrent learning (CL)-based parameter estimator is developed to identify the unknown parameters in a nonlinear system. Unlike state-of-the-art CL techniques that assume knowledge of the state derivative or rely on numerical smoothing, CL is implemented using a dynamic state-derivative estimator. A novel purging algorithm is introduced to discard possibly erroneous data recorded during the transient phase for CL. Asymptotic convergence of the error states to the origin is established under a persistent excitation condition, and the error states are shown to be uniformly ultimately bounded under a finite excitation condition.