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ADAPTATION AND TRACKING IN SYSTEM-IDENTIFICATION - A SURVEY

AUTOMATICA 1990年第1期26卷 7-21页

作者： LJUNG, L GUNNARSSON, S Division of Automatic Control Department of Electrical Engineering Linköping University S-58183 Linköping Sweden

To track the time-varying dynamics of a system or the time-varying properties of a signal is a fundamental problem in control and signal processing. Many approaches to derive such adaptation algorithms and to analyse their behaviour have been taken. This article gives a survey of basic techniques to derive and analyse algorithms for tracking time-varying systems. Special attention is paid to the study of how different assumptions about the true system's variations affect the algorithm. Several explicit and semi-explicit expressions for the mean square error are derived, which clearly demonstrate the character of the trade-off between tracking ability and noise rejection.

关键词： adaptive systems recursive algorithms System identification time-varying systems

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NEW COMPLEMENTARY PAIRS OF SEQUENCES

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ELECTRONICS LETTERS 1990年第13期26卷 881-883页

作者： BUDISIN, SZ Inst. of Microwave Tech. & Electron. Beograd Yugoslavia

A general method for construction of polyphase complementary pairs of sequences of length 2N is presented. This method is based on the recursive algorithms introduced by Golay for binary sequences and by Sivaswamy for polyphase sequences. A modification of the proposed algorithm can generate multilevel and complex sequences of magnitude different from unity. The proposed sequences are suitable for radar applications where complementary sequences different from the known binary sequences are required.

关键词： binary sequences binary sequences complementary pairs complex sequences polyphase polyphase sequences radar applications radar theory recursive algorithms sequences

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DESIGN OF IIR DIGITAL-FILTERS WITH ARBITRARY LOG MAGNITUDE FUNCTION BY WLS TECHNIQUES

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IEEE TRANSACTIONS ON ACOUSTICS SPEECH AND SIGNAL PROCESSING 1990年第2期38卷 247-252页

作者： KOBAYASHI, T IMAI, S Research Laboratory of Precision Machinery and Electronics Tokyo Institute of Technology Yokohama Japan

The authors propose a technique for designing IIR (infinite impulse response) digital filters to have an arbitrary log magnitude frequency response. The technique is based on an iterative weighted least-squares (WLS) approach in the frequency domain. A weight updating procedure is introduced to obtain a nearly optimal approximation to the given log magnitude function in the least-squares sense. The weighting function is updated using the results of the previous iteration in such a way that the weighted error approximates the log magnitude error. Filter coefficients at each iteration are efficiently computed using a fast recursive algorithm for a set of linear equations derived from the WLS problem. Several design examples demonstrate the rapid convergence of the design algorithm. The algorithm is extended to equiripple approximation by means of a minor modification of the weight updating procedure.

关键词： WEIGHTING FUNCTIONS IIR digital filter recursive algorithms Linear equation Design Algorithm WLS gene optimal approximation weighted error Arbitrary iterative methods

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A NEW TIME DOMAIN, MULTISTAGE PERMUTATION ALGORITHM

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IEEE TRANSACTIONS ON INFORMATION THEORY 1990年第1期36卷 171-173页

作者： RAMANAN, SV JORDAN, HF SAUER, JR Optoelectronic Computing Systems Center University of Colorado Boulder Boulder CO USA

It is shown that a frame of N time slots can be arbitrarily permuted with 2log/sub 2/N-1 controlled exchange switches with associated delay elements. This is an improvement over previously known interconnection networks that require O(N) exchange elements. The proof utilizes the recursive algorithm of V.E. Benes (1965) and the time interchange properties of a particular configuration of a single exchange element. The architecture is especially applicable in optical systems, since optical exchange switches are among the simplest optical logic devices to build, are inherently very fast, and are the best developed, although expensive.

关键词： Interconnection networks recursive algorithms Optical Systems MULTISTAGE TIME-DOMAIN Switches optical logic delay element Switched systems Permutation

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recursive MOVING WINDOW DFT ALGORITHM

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IEEE TRANSACTIONS ON COMPUTERS 1990年第1期39卷 145-148页

作者： ARAVENA, JL Dept of Electr. & Comput. Eng. Louisiana State Univ. Baton Rouge LA USA Abstract Authors References Cited By Keywords Metrics Similar Download Citation Email Print Request Permissions

A recursive algorithm is presented for computing the discrete Fourier transform (DFT). The algorithm is developed for a moving-window-type processing. The computational structure is fully concurrent and allows a vectorized updating of the DFT. The total time required for the updating could be as low as that of only one multiplication and two additions, regardless of the number of points. A possible structure for executing the computations is developed, and possible enhancements are analyzed.

关键词： Moving recursive algorithms algorithms recursive as-cast structure

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Parameters Identification of Robots Manipulators via Sequential Hybrid Estimation algorithms

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IFAC Proceedings Volumes 1990年第8期23卷 163-168页

作者： C. Canudas de Wit A. Aubin Laboratoire d'Automatique de Grenoble ENSIEG-INPG B.P. 46 38402 Saint-Martin-d'Hères France

This paper deals with the problem of improving the parameter identifiability properties of robot model. Through the exploitation of the upper-triangular structure of the information matrix, the estimation of the invariants (masses, inertias, etc). which usually requires at the most 11 n parameters for a robot manipulator with n degrees of freedom (DOF), can be performed link by link in a sequential manner by n algorithms of size n i where Σ n i is smaller than 11n. Optimization of the robot trajectories seeking to improve parameters identifiability can be simplified. A study case is presented of a 4-DOF robot used for nuclear maintenance having three co-linear axes. Instead of having a single-pass algorithm of dimension 12, the method yields a 4-passes estimation algorithm with a parameter vector dimension of 4, 4, 3 and 1 respectively for each pass. This method enhances the numerical algorithm conditioning and facilitates the selection of a high excited identification sequence improving the parameter identifiability.

关键词： Identification of robot models parameter identifiability recursive algorithms hybrid identification

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On a Robustified Adaptive Clark-Gawthrop's Controller

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IFAC Proceedings Volumes 1990年第8期23卷 357-361页

作者： V.Ž. Filipović B.D. Kovačević Faculty of Eleclncal Engineering University of Belgrade Belgrade Yugoslavia

An adaptive regulator of the Clark-Gawthrop's type in the presence of disturbance uncertainty is considered in the paper. Supposing a linear ARMAX model with delay of the single input-output system, a robustified direct adaptive control algorithm is derived using the well known statistical approach called M-estimation. The derived algorithm differes from the least-squares method by the insertion of a sui table chosen nonlinear transformation of the prediction error, which has to cut off the large noise realizations, called outliers. The global stability of the proposed control system and the asymptotic optimality of the adaptive regulator is established theoretically using the martingale theory.

关键词： Adaptive systems robust identification recursive algorithms convergence analysis

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Direct Adaptive Control with the Robust Least Squares Method

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IFAC Proceedings Volumes 1990年第1期23卷 455-459页

作者： V.Ž. Filipović B.D. Kovačević Faculty of Electrical Engineering University of Belgrade Belgrade Yugoslavia

An adaptive control of linear dynamic single input-single output systems des-cribed by the ARMAX model in the presence of uncertainty is considered. An adaptive control algorithm is derived using the Huber’s min-max robust estimation, based on a priori information of disturbance statistics, such as the pdf’s class to which the unknown disturbance pdf belongs. The derived algorithm differs from the least squares method by the insertion of an optimal nonlinear transformation of the prediction error within a given class, in the sense of the minimal Cramer Rao bound. Moreover, the algorithm possesses a high convergence rate at initial steps, owing to a suitable way of the recursive generation of its weighting matrix, which is adaptial to the chosen non-linearity. The stability, in the Cesaro sense, of the proposed control system and the asymptotic optimality of the adaptive regulator is established theoretically using the martingale theory. It is worthwile noting that the obtained results are valid under weaker constrains on the disturbance polynomial than in the case of convenient least squares method.

关键词： Adaptive systems robust identification recursive algorithms convergence analysis

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A recursive Algorithm for Path Planning Between Monotone Chains

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IFAC Proceedings Volumes 1990年第3期23卷 499-503页

作者： D. Lodares M. Abellanas Facultad de Informática Universidad Politécnica Madrid Spain

In this paper one gives a recursive algorithm to obtain the minimum length path connecting two points and avoiding collisions with obstacles which are monotone chains of rectilinear segments. The algorithm is shown to be O ( N 2 ) in time in the worst case and the results obtained after the implementation show that the expected case is O ( NlogN )-time.

关键词： Obstacle Avoidance Path Planning recursive algorithms Robots Computational Methods Optimization Computational Geometry

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O(N) recursive Algorithm for the Operational Space Inertia Matrix of a Robot Manipulator

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IFAC Proceedings Volumes 1990年第8期23卷 275-279页

作者： K.W Lilly D.E Orin Department of Electrical Engineering The Ohio State University Columbus OH 43210 USA

The operational space inertia matrix reflects the dynamic properties of a robot manipulator to its tip. It mav be used to decouple force and/or motion control about the manipulator workspace axes, and it also plays an important role in the development of efficient algorithms for the dynamic simulation of closed-chain robotic mechanisms. The traditional approach for computing this matrix has a computational complexity of O(N 3 ) for an N degree-of-freedom manipulator. This paper presents the development of a new recursive algorithm for the operational space inertia matrix which reduces the computational complexity to O(N) for any manipulator. The Hew algorithm is based on a single recursion which begins at the base of the manipulator and progresses out to the last link, and it is the most efficient method known for N ≥ 6. The numerical accuracy of the new algorithm is tested for a PUMA 560 robot with a fixed base.

关键词： Robots inertia matrix recursive algorithms dynamic simulation force control computational methods

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