NDLI: A problem of on-line continuous-time estimation of parameters of polyharmonic function

Content Provider	IEEE Xplore Digital Library
Author	Bobtsov, A.A. Lyamin, A.V.
Copyright Year	2000
Description	Author affiliation: St. Petersburg State Tech. Univ., Russia (Bobtsov, A.A.)
Abstract	A problem of on-line continuous-time estimation of parameters (frequencies and amplitudes) of a polyharmonic function is considered. Given problem is a classical problem of the systems theory. Nonlinear dependency of the function from its parameters prevents using standard well-known methods of adaptive control and identification, since the presentation of periodic function as output of a dynamic system leads to the problem of simultaneous estimation of state variables and unknown parameters, that presents the special difficulty in continuous-time. In the recent papers dedicated to the given problem the algorithms of estimation of frequency of the measured sinusoidal signal J=Asin(/spl omega/t+/spl phi/) were proposed. However these algorithms can not be developed for the estimation of parameters of a polyharmonic signal. A solution of considered problem can find wide practical application in self-learning of robotic systems and adaptive noise damping systems. For example, the problem of overcoming of function uncertainties in control laws arises from the design of mobile robot control systems for a motion along physically detectable, but analytically unknown paths (border of physical object). Solution of this problem is based an using a strategy of self-learning and an algorithm of the approximation of the unknown periodic functional dependencies. Analytical conditions of existence of the solution are presented for the case of on-line continuous-time estimation of the parameters of a polyharmonic function. The design procedure of the estimation algorithm is proposed.
Starting Page	388
Ending Page	389
File Size	195952
Page Count	2
File Format	PDF
ISBN	0780364341
DOI	10.1109/COC.2000.873998
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2000-07-05
Publisher Place	Russia
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Parameter estimation Frequency estimation Motion control Control systems Amplitude estimation Adaptive control Nonlinear dynamical systems State estimation Frequency measurement Robots
Content Type	Text
Resource Type	Article

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