Abstract
This paper presents a novel on-line closed-loop parameter identification algorithm for second order nonlinear systems. Parameter convergence of the proposed methodology is ensured by means of a rigorous Lyapunov-based analysis. The estimated parameters are obtained using the actual and an estimation system. Algebraic techniques are applied for estimating velocity and acceleration signals, which are required in the proposed algorithm. A comparative analysis allows assessing the performance of the new parameter identification algorithm with respect to on-line and off-line least squares algorithms. Numerical simulations indicate that the proposed methodology allows estimating different types of non-linearities, converges faster than other methodologies, is robust against disturbances, outperforms on-line techniques, and provides similar estimates as an off-line technique, but without requiring any type of data pre-processing.
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Recommended by Associate Editor Choon Ki Ahn under the direction of Editor Myo Taeg Lim. This work was supported by CONACYT Project Cátedras 1537.
Roger Miranda-Colorado received his B.Sc. degree in Electronics Engineering from Instituto Tecnológico de Veracruz, México, in 2004, and his M.Sc. and Ph.D. degrees in Automatic Control from Centro de Investigación y de Estudios Avanzados CINVESTAV, México, in 2006 and 2010, respectively. He is currently a CONACYT Research Fellow assigned to the Instituto Politécnico Nacional-CITEDI. He is the author of two books: Kinematics and Dynamics of Robot Manipulators (Alfaomega, 2016, in Spanish) and Quadcopters Drones: Modeling, trajectory design, tuning and control (to be published by Alfaomega in 2018); in addition, he has published papers in journals and conferences. His research interests include parameter identification of linear and nonlinear systems, control of aerial vehicles (quadrotors), linear and nonlinear control of rigid and flexible robot manipulators, sliding mode control, and machine learning.
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Miranda-Colorado, R. A New Parameter Identification Algorithm for a Class of Second Order Nonlinear Systems: An On-line Closed-loop Approach. Int. J. Control Autom. Syst. 16, 1142–1155 (2018). https://doi.org/10.1007/s12555-017-0380-z
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DOI: https://doi.org/10.1007/s12555-017-0380-z