This paper considers the online identification problem of uncertain systems. Based on parallel and series-parallel configurations with feedback and by using Lyapunov arguments, a unified identification algorithm is introduced to ensure the boundedness of all associated errors and convergence of the state estimation error to an arbitrary neighborhood of the origin. The main peculiarity of the proposed algorithm lies in allowing the adjustment of the identification transient by using parameters that are not related to the residual state error. Two examples are deemed to validate the theoretical results and show the relevance of the application of the proposed methodology for online weld geometry prediction.

本文考虑了不确定系统的在线辨识问题。基于带反馈的并联和串并联配置，并使用Lyapunov参数，引入了一种统一的识别算法，以确保所有相关误差的有界性和状态估计误差收敛到原点的任意邻域。所提出算法的主要特点在于允许通过使用与剩余状态误差无关的参数来调整识别瞬变。认为有两个例子可以验证理论结果，并表明所提出的方法在在线焊缝几何形状预测中的应用意义。