On sparsity and directional forgetting in adaptive control

Abstract

This paper develops a sparsity-promoting memory regressor extension (MRE) adaptation law with directional forgetting for nonlinear control-affine systems with linearly parameterized uncertainty. The objective is to use directional forgetting to selectively discount obsolete information and leverage $\ell_1$ regularization to promote sparsity of the parameter estimates. While $\ell_1$ regularization has been applied to the system identification problem in an offline setting, a contribution of this paper is to develop a recursive least squares update law to implement $\ell_1$ regularization in online adaptive control. In particular, we show that $\ell_1$-regularized recursive least squares is realized via a sliding mode update law. A nonsmooth Lyapunov-based stability analysis is then used to show that the tracking and parameter estimation errors are ultimately bounded under a subspace excitation condition. Simulation results on a Van der Pol oscillator demonstrate the ability of the developed sparsity-promoting MRE controller to recover sparse dynamics while maintaining stable tracking.