Short-Time Linear Quadratic Form Technique for Esti-mating Fast-Varying Parameters in a Vibration System
Publish place: 3rd International Conference on Acoustic and Viberation
Publish Year: 1392
نوع سند: مقاله کنفرانسی
زبان: English
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ISAV03_176
تاریخ نمایه سازی: 29 تیر 1393
Abstract:
The precision of a closed-loop controller designed for an uncertain system depends strongly upon the maximum extent we able to track the trend of time-varying parameters of the sys-tem. The major concentration of this study is to describe a new parameter estimation algo-rithm which is able to follow fast-varying parameters in the closed-loop systems. The Short-Time Linear Quadratic Form (STLQF) estimator introduced in this paper is a new technique for tracking time-varying parameters based on sliding an analysis window on the regressing variables in order to minimize a linear quadratic form cost function, which this cost produces a linear combination of errors with several delays. First, mathematical development of the STLQF estimation algorithm is described. Then, the obtained algorithm is applied to a three degrees of freedom (3-DOF) planar mobile robot with fast-varying parameters of inertia, vis-cous and coulomb frictions. Performance of the proposed algorithm is assessed versus noise effects and versus variation type of parameters. The practical feasibility of the proposed esti-mation technique is tested by an electronic circuit which consists of three embedded digital processors as the robot-controller-estimator simulator testbed
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Authors
Mohammad R. Homaeinezhad
Department of Mechanical Engineering, K.N. Toosi University of Technology,
I. Tahbaz-zadeh Moghaddam
Department of Mechanical Engineering, K.N. Toosi University of Technology
Hosein Naseri
Department of Mechanical Engineering, K.N. Toosi University of Technology
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