NDLI: Parameter identification of nonlinear systems using indirect solution of optimal control problem

Content Provider	IEEE Xplore Digital Library
Author	Moradi, M. Naraghi, M. Nikoobin, A.
Copyright Year	2015
Description	Author affiliation: Dept. of Mech. Eng., Amirkabir Univ. of Technol., Tehran, Iran (Moradi, M.; Naraghi, M.) \|\| Fac. of Mech. Eng., Semnan Univ., Semnan, Iran (Nikoobin, A.)
Abstract	This paper describes a novel offline approach to estimate the parameters of a nonlinear system using the optimal control theory. In the conventional methods, only the output is considered in the identification process and the problem is stated as a nonlinear optimization problem. Nevertheless, the proposed method here is based on the least square error of both output and input. To do this, the problem is first stated as a tracking problem with some unknown parameters. The necessary and sufficiency conditions of optimality conditions are derived using the fundamental theorem of variational calculus. The problem is deployed as an effort optimal control problem which finally leads to a two point boundary value problem. To solve the resultant equations, a secondary optimal control problem is deployed to be solved using the homotopy algorithm. So the parameters are gradually converged to the real values. The proposed algorithm is analyzed for a one-link manipulator with the full measurements. Thereafter, the proposed method is applied on a real one-link manipulator and nonlinear model of permanent magnet dc motor. Application of the method for the identification of a few test beds at the AUT proves the validity and efficiency of the proposed approach.
Starting Page	277
Ending Page	283
File Size	624253
Page Count	7
File Format	PDF
e-ISBN	9781467372343
DOI	10.1109/ICRoM.2015.7367797
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2015-10-07
Publisher Place	Iran
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Solid modeling Homotopy method Computational modeling Optimal control Indirect solution Pontryagin maximum principle Identification Trajectory Mathematical model Robots Optimization
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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