Short-Time Linear Quadratic Form Technique for Estimating Fast-Varying Parameters in Feedback Loops
The precision of a closed‐loop controller system designed for an uncertain plant depends strongly upon the maximum extent to which it is possible to track the trend of time‐varying parameters of the plant. The aim of this study is to describe a new parameter estimation algorithm that is able to foll...
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Veröffentlicht in: | Asian journal of control 2015-11, Vol.17 (6), p.2289-2302 |
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creator | Homaeinezhad, Mohammad Reza Tahbaz-zadeh Moghaddam, Iman Khakpour, Zahra Naseri, Hosein |
description | The precision of a closed‐loop controller system designed for an uncertain plant depends strongly upon the maximum extent to which it is possible to track the trend of time‐varying parameters of the plant. The aim of this study is to describe a new parameter estimation algorithm that is able to follow fast‐varying parameters in closed‐loop systems. The short‐time linear quadratic form (STLQF) estimation algorithm introduced in this paper is a technique for tracking time‐varying parameters based on short‐time analysis of the regressing variables in order to minimize locally a linear quadratic form cost function. The established cost function produces a linear combination of errors with several delays. To meet this objective, mathematical development of the STLQF estimation algorithm is described. To implement the STLQF algorithm, the algorithm is applied to a planar mobile robot with fast‐varying parameters of inertia and viscous and coulomb frictions. Next, performance of the proposed algorithm is assessed against noise effects and variation in the type of parameters. |
doi_str_mv | 10.1002/asjc.1141 |
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Next, performance of the proposed algorithm is assessed against noise effects and variation in the type of parameters.</description><subject>Algorithms</subject><subject>coulomb friction</subject><subject>Feedback control systems</subject><subject>Parameter estimation</subject><subject>short-time least squares (STLS)</subject><subject>short-time linear quadratic form (STLQF)</subject><subject>sliding mode controller</subject><subject>viscous damping</subject><issn>1561-8625</issn><issn>1934-6093</issn><fulltext>true</fulltext><rsrctype>article</rsrctype><creationdate>2015</creationdate><recordtype>article</recordtype><recordid>eNp1kMtOwzAQRSMEEqWw4A8ssWKR1u8ky6pqWlAERS1UYmM5jkPTR1zsVNC_x1EQO1Yez5w7jxsEtwgOEIR4KN1GDRCi6CzooYTQkMOEnPuYcRTGHLPL4Mq5DYQckZj1ArVYG9uEy2qvQVbVWlrwcpSFlU2lQGrsHiy1WtfV51GD0lgwcU2198X6A6TSNeGbtKf2M5dW7nWjrQNVDVKti1yqLciMObjr4KKUO6dvft9-8JpOluNZmD1PH8ajLFQUMhSWHKocE4ljhhMqWV6wKCmjIucK4xxjH5aaF0xzKssc-axKSKwIRVxrDiHpB3dd34M1fl_XiI052tqPFCjCEYcRpNhT9x2lrHHO6lIcrD_JngSCovVQtB6K1kPPDjv2q9rp0_-gGC0ex7-KsFNUrtHffwppt4JHJGJi9TQVdPa-ms94Kjj5Af65gqU</recordid><startdate>201511</startdate><enddate>201511</enddate><creator>Homaeinezhad, Mohammad Reza</creator><creator>Tahbaz-zadeh Moghaddam, Iman</creator><creator>Khakpour, Zahra</creator><creator>Naseri, Hosein</creator><general>Blackwell Publishing Ltd</general><general>Wiley Subscription Services, Inc</general><scope>BSCLL</scope><scope>AAYXX</scope><scope>CITATION</scope><scope>JQ2</scope></search><sort><creationdate>201511</creationdate><title>Short-Time Linear Quadratic Form Technique for Estimating Fast-Varying Parameters in Feedback Loops</title><author>Homaeinezhad, Mohammad Reza ; Tahbaz-zadeh Moghaddam, Iman ; Khakpour, Zahra ; Naseri, Hosein</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-c4051-f60cb23a285294a5bd579f7db6c22b22f7dfe6d5e64afb16c2c938c3416ee6003</frbrgroupid><rsrctype>articles</rsrctype><prefilter>articles</prefilter><language>eng</language><creationdate>2015</creationdate><topic>Algorithms</topic><topic>coulomb friction</topic><topic>Feedback control systems</topic><topic>Parameter estimation</topic><topic>short-time least squares (STLS)</topic><topic>short-time linear quadratic form (STLQF)</topic><topic>sliding mode controller</topic><topic>viscous damping</topic><toplevel>peer_reviewed</toplevel><toplevel>online_resources</toplevel><creatorcontrib>Homaeinezhad, Mohammad Reza</creatorcontrib><creatorcontrib>Tahbaz-zadeh Moghaddam, Iman</creatorcontrib><creatorcontrib>Khakpour, Zahra</creatorcontrib><creatorcontrib>Naseri, Hosein</creatorcontrib><collection>Istex</collection><collection>CrossRef</collection><collection>ProQuest Computer Science Collection</collection><jtitle>Asian journal of control</jtitle></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext</fulltext></delivery><addata><au>Homaeinezhad, Mohammad Reza</au><au>Tahbaz-zadeh Moghaddam, Iman</au><au>Khakpour, Zahra</au><au>Naseri, Hosein</au><format>journal</format><genre>article</genre><ristype>JOUR</ristype><atitle>Short-Time Linear Quadratic Form Technique for Estimating Fast-Varying Parameters in Feedback Loops</atitle><jtitle>Asian journal of control</jtitle><addtitle>Asian Journal of Control</addtitle><date>2015-11</date><risdate>2015</risdate><volume>17</volume><issue>6</issue><spage>2289</spage><epage>2302</epage><pages>2289-2302</pages><issn>1561-8625</issn><eissn>1934-6093</eissn><abstract>The precision of a closed‐loop controller system designed for an uncertain plant depends strongly upon the maximum extent to which it is possible to track the trend of time‐varying parameters of the plant. The aim of this study is to describe a new parameter estimation algorithm that is able to follow fast‐varying parameters in closed‐loop systems. The short‐time linear quadratic form (STLQF) estimation algorithm introduced in this paper is a technique for tracking time‐varying parameters based on short‐time analysis of the regressing variables in order to minimize locally a linear quadratic form cost function. The established cost function produces a linear combination of errors with several delays. To meet this objective, mathematical development of the STLQF estimation algorithm is described. To implement the STLQF algorithm, the algorithm is applied to a planar mobile robot with fast‐varying parameters of inertia and viscous and coulomb frictions. 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subjects | Algorithms coulomb friction Feedback control systems Parameter estimation short-time least squares (STLS) short-time linear quadratic form (STLQF) sliding mode controller viscous damping |
title | Short-Time Linear Quadratic Form Technique for Estimating Fast-Varying Parameters in Feedback Loops |
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