Robust adaptive identification of linear time‐varying systems with modified least‐squares algorithm

2016 ◽  
Vol 52 (25) ◽  
pp. 2038-2040 ◽  
Author(s):  
Jinbo Wu ◽  
Wenjian Huang ◽  
Yuchen Song ◽  
Jinguo Zhang
Keyword(s):  
Least Squares ◽  
Linear Time ◽  
Time Varying ◽  
Adaptive Identification ◽  
Time Varying Systems ◽  
Least Squares Algorithm ◽  
Robust Adaptive

Identification of linear time-varying systems using a modified least-squares algorithm

Automatica ◽  
2000 ◽  
Vol 36 (7) ◽  
pp. 1009-1015 ◽  
Author(s):  
Rogelio Lozano ◽  
Dimitrios Dimogianopoulos ◽  
Robert Mahony
Keyword(s):  
Least Squares ◽  
Linear Time ◽  
Time Varying ◽  
Time Varying Systems ◽  
Least Squares Algorithm

Identification of Linear Time-Varying Systems Using a Modified Least Squares Algorithm

1998 ◽  
Vol 31 (22) ◽  
pp. 433-438
Author(s):  
Rogelio Lozano ◽  
Dimitrios Dimogianopoulos ◽  
Robert Mahony
Keyword(s):  
Least Squares ◽  
Linear Time ◽  
Time Varying ◽  
Time Varying Systems ◽  
Least Squares Algorithm

Robust Adaptive Controllers for Interconnected Mechanical Systems: Influence of Types of Interconnections on Time-Invariant and Time-Varying Systems

1994 ◽  
Vol 116 (3) ◽  
pp. 456-473 ◽  
Author(s):  
Sunil K. Singh ◽  
Lin Shi
Keyword(s):  
State Space ◽  
High Speed ◽  
Linear Time ◽  
Direct Method ◽  
Time Varying ◽  
Adaptive Controllers ◽  
First Order ◽  
Time Varying Systems ◽  
Robust Adaptive ◽  
Time Invariant

We investigate robust adaptive controller designs for interconnected systems when no exact knowledge about the structure of the nonlinear interconnections between various subsystems is available. In this study, we concentrate on several different types of systems. We deal with both linear time-invariant (LTI) and linear time-varying (LTV) systems with nonlinear interconnections. For LTI systems, we examine the following types of interconnections: • interconnections that are bounded by first order polynomials in state space; • slowly time varying interconnections; • interconnections bounded by higher-order polynomials in state-space together with input channel interconnections. For LTV systems we deal with interconnections bounded by first-order polynomials in state space. We show that the nature of the nonlinear interactions influences the adaptation laws. We use the direct method of Lyapunov for the design of adaptive controllers for tracking in such systems. We investigate issues such as stability, transient performance and steady-state errors, and derive quantitative estimates and analytical bounds for various different adaptive controllers. For time-varying systems, we analyze the effect of the time variations of parameters and interactions and propose a modified adaptive control scheme with better performance. Simulation results are presented to validate our conclusions. We also investigate these results experimentally on a two-link robot manipulator. Experimental results validate theoretical conclusions and demonstrate the usefulness of such robust adaptive controllers for high-speed motions in uncertain systems.

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