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ROBUST recursive least-squares method WITH MODIFIED WEIGHTS FOR BILINEAR SYSTEM-IDENTIFICATION

IEE PROCEEDINGS-D CONTROL THEORY AND APPLICATIONS 1989年第3期136卷 122-126页

作者： DAI, H SINHA, NK Department of Electrical & Computer Engineering McMaster University Hamilton Canada

The least-squares method is one of the most efficient and simple identification methods commonly used. Unfortunately, it is very sensitive to large errors (outliers) in the input/output data. In such cases, it may never converge or give erroneous results. In earlier work, based on the minimax principle, a robust least-squares version has been proposed, but it is only suitable for linear systems. In practice, most real systems are nonlinear. Many of these can be suitably represented by bilinear models. In the paper, a robust recursive least-squares method has been proposed for bilinear system identification. It differs from earlier approaches in that it uses modified weights in the criterion for robustness. A theorem proving the convergence of the proposed algorithm is included. Results of the simulation demonstrating the robustness of the proposed algorithm are also included.

关键词： Nonlinear control systems convergence least squares approximations Simulation, modelling and identification linear systems nonlinear systems recursive least-squares method Interpolation and function approximation (numerical analysis) bilinear system modified weights identification

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MEMS Gyro Random Error On-line Modeling Based on recursive least-squares method of System Identification

MEMS Gyro Random Error On-line Modeling Based on Recursive L...

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2016 2nd Workshop on Advanced Research and Technology in Industry Applications(WARTIA 2016)

作者： Jiawei Wang Keyu Qi Kai Shi Ke Liang Jie Yan Northwestern Polytechnical University Science and Technology on Electromechanical Dynamic Control Laboratory

To develop the guided projectile with higher hit precision,promotes gyro’s performance has immensely affection on trajectory *** to the difficulty in method of MEMS angular rate gyro random error on-line modeling,this paper proposes a new algorithm of recursive least-squares method that used in the system identification *** this recursive least-squares method,a few known gyro output data are used to roughly estimate system parameters,then newly obtained data are added to the measurement formula using the recursive algorithm in order to make estimated parameters approach to its *** study indicates that the residual error between outputs of gyro random error model and outputs of real gyro highly approximates white noise,which means the error model accurately describes statistical features of gyro random error and the recursive algorithm realizes on-line modeling.

关键词： Gyro Random Error On-line Modeling System Identification recursive least-squares method

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COMMENTS ON SELF-ADAPTIVE REGULATORS BASED ON THE least-squares method OF ITS recursive MODIFICATIONS - GENERAL-APPROACH

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JOURNAL OF COMPUTER AND SYSTEMS SCIENCES INTERNATIONAL 1994年第4期32卷 54-60页

作者： BITTANTI, S CAMPI, M

Schemas for adaptive control in the minimum-variation problem are examined. A definition of an effective identification algorithm which is based on the introduced concept of an excited subspace is given. It is shown that, for nonperturbed minimum-phase systems. the tracking error approaches zero if an effective algorithm is used for identification. The effectiveness of a recursive least-squares method and of its modifications is established.

关键词： NORMALIZED least-squares method recursive least-squares method FORGETTING FACTOR EXCITED SUBSPACE

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A GA-based method for constructing fuzzy systems directly from numerical data

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IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART B-CYBERNETICS 2000年第6期30卷 904-911页

作者： Wong, CC Chen, CC Tamkang Univ Dept Elect Engn Taipei Taiwan Wufeng Inst Technol Dept Elect Engn Chiayi Taiwan

A method based on the concepts of genetic algorithm (GA) and recursive least-squares method is proposed to construct a fuzzy system directly from some gathered input-output date of the discussed problem. The proposed method can find an appropriate fuzzy system with a low number of rules to approach an identified system under the condition that the constructed fuzzy system must satisfy a predetermined acceptable performance. In this method, each individual in the population is constructed to determine the number of fuzzy rules and the premise part of the fuzzy system, and the recursive least-squares method is used to determine the consequent part of the constructed fuzzy system described by this individual. Finally, three identification problems of nonlinear systems are utilized to illustrate the effectiveness of the proposed method.

关键词： fuzzy system genetic algorithm recursive least-squares method

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Three-parameter transmission gear-shifting schedule for improved fuel economy

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PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART D-JOURNAL OF AUTOMOBILE ENGINEERING 2018年第4期232卷 521-533页

作者： Miao, Chengsheng Liu, Haiou Zhu, Guoming G. Beijing Inst Technol Mech Engn Beijing Peoples R China Michigan State Univ Mech Engn E Lansing MI 48824 USA

Traditionally the transmission gear-shifting schedule is based upon the throttle position and the vehicle (or engine) speed. This paper proposes to add a third parameter, called the terrain coefficient, to form a three-parameter gear-shifting schedule for improving the fuel economy of a vehicle. The terrain coefficient is a compound parameter consisting of the road grade and the rolling resistance coefficient. It can be estimated in real time by the proposed multi-step recursive least-squares method. The dynamic programming and the moving least-squares method are adopted to optimize the gear sequences and to generate the three-parameter gear-shifting schedule. The proposed gear-shifting schedule is evaluated against the traditional two-parameter gear-shifting schedule via Simulink simulations and on-road experiments using a heavy-duty vehicle. The simulation results for the Urban Dynamometer Driving Schedule and the US06 Supplemental Federal Test Procedure driving cycles show that the fuel economies of the proposed gear-shifting schedule are improved by 3.3% and 2.7% respectively over that of the traditional two-parameter schedule. The experimental results indicate that the three-parameter gear-shifting schedule improves the fuel economy by 3.5% over the traditional schedule with a satisfactory acceleration performance.

关键词： Dynamic programming gear-shifting schedule recursive least-squares method terrain coefficient

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Online parameter identification of the asymmetrical Bouc-Wen model for piezoelectric actuators

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PRECISION ENGINEERING-JOURNAL OF THE INTERNATIONAL SOCIETIES FOR PRECISION ENGINEERING AND NANOTECHNOLOGY 2014年第4期38卷 921-927页

作者： Wei, Zhu Xiang, Bian Lei Ting, Rui Xiao Nanjing Univ Sci & Technol Inst Launch Dynam Nanjing 210094 Jiangsu Peoples R China

The hysteresis of piezoelectric actuators (PAs) possesses the asymmetrical and frequency-dependent characteristics. In order to accurately model the hysteresis of a PA, an asymmetrical Bouc-Wen model is proposed and established in this paper. The recursive least-squares online identification method is used to real-time identify the parameters of the proposed model. Meanwhile, in order to avoid the data saturation phenomenon, the limited memory method is used to limit the number of the data sets. The experimental system is setup and the performance of this method is experimentally verified. Experimental results show that the proposed online identification method can effectively improve the modeling accuracy. (C) 2014 Elsevier Inc. All rights reserved.

关键词： Piezoelectric actuator Asymmetrical Bouc-Wen model Online parameter identification recursive least-squares method Limited memory method

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Sliding-mode-based parameter identification with application to tire pressure and tire-road friction

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INTERNATIONAL JOURNAL OF AUTOMOTIVE TECHNOLOGY 2011年第4期12卷 571-577页

作者： Lee, D. -J. Park, Y. -S. Korea Adv Inst Sci & Technol Dept Mech Engn Taejon 305701 South Korea

This paper presents a method of simultaneous estimation of tire pressure and tire-road friction. A sliding-mode scheme is designed to identify the system state and the parameter variation of a torsional tire system, which greatly depend on the change in tire pressure. Then, the recursive least-squares method with a forgetting facto is used to estimate the parameter variations of the tire system and the tire-road friction force without a friction model using the information retrieved from the equivalent input for sliding motion. A simulation study is performed to illustrate the effectiveness of the proposed method.

关键词： Sliding-mode observer recursive least-squares method Tire torsion model TPMS

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Estimation of Torques Transmitted by Twin-Clutch of Dry Dual-Clutch Transmission During Vehicle's Launching Process

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IEEE TRANSACTIONS ON VEHICULAR TECHNOLOGY 2017年第6期66卷 4727-4741页

作者： Zhao, Zhiguo Li, Xueyan He, Lu Wu, Chaochun Hedrick, J. Karl Tongji Univ Clean Energy Automot Engn Ctr Shanghai 201804 Peoples R China Univ Calif Berkeley Dept Mech Engn Berkeley CA 94720 USA

The key to the launching control of a dual-clutch transmission (DCT) lies in the coordination control of the engine and dual clutches, along with the accurate closed-loop control of the torque transmitted by each clutch and the output torque of the engine. The implementation feasibility and precision of the clutch torque closed-loop control are completely dependent on the effective real-time estimation of the clutch torque, which cannot be directly measured. Therefore, the high-order sliding-mode observer and unknown input observer are used to estimate the transmitted torque of the twin clutches on the basis of the self-designed control strategy and estimation of the vehicle drag torque. First, for the launching clutch slipping phase, an improved engine constant speed control is proposed based on the dynamic equations of a dry DCT with dual intermediate shafts, and the minimum value principle is applied to achieve the optimum launching control of the clutches. Meanwhile, the separating conditions of the separated clutch and the torque distribution are determined to ensure approximate friction work and avoid power cycle, and the target curve of the clutch-transmitted torque is obtained according to different conditions. Then, the vehicle drag torque is estimated using the recursive least-square method with a double forgetting factor, the angular acceleration of the engine and output shaft is refactored utilizing a high-order sliding-mode observer algorithm, and the transmitted torque of the twin clutches are estimated using the unknown input observer. Then, the DCT launching process is simulated under different driving conditions on the MATLAB/Simulink software platform. Finally, the bench test is conducted to verify the effectiveness of the self-designed clutch torque estimation method. The simulation and hardware-in-the-loop (HIL) test results show that the proposed methods of high-order sliding-mode observer and unknown input observer can effectively estimate the

关键词： Dual-clutch starting coordinated control recursive least-squares method six-speed dry dual-clutch transmission (DCT) sliding mode observer

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Coordinative traction control of vehicles based on identification of the tyre-road friction coefficient

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PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART D-JOURNAL OF AUTOMOBILE ENGINEERING 2016年第12期230卷 1585-1604页

作者： Zhao, Jian Zhang, Jin Zhu, Bing Jilin Univ State Key Lab Automot Simulat & Control 5988 Renmin St Changchun 130022 Peoples R China Jilin Univ Key Lab Bion Engn Minist Educ Changchun Peoples R China

Traction control, which can be performed by different types of chassis control system, plays an important role in vehicle motion control. Since the propulsive force is actually produced by the friction between the tyre and road, information on the tyre-road friction is crucial for traction control. In this paper, a robust and effective tyre-road friction coefficient identification algorithm for straight acceleration is proposed, and a coordinative traction control method is designed by integrated usage of gear shifting control, engine control and braking control. For different driving conditions, the tyre forces were observed by a sliding-mode observer or calculated from the states of the vehicle directly, and the tyre-road friction coefficients were estimated by the recursive least-squares method or calculated from the linear characteristics between the friction coefficient and the slip ratio consequently. Based on the estimated tyre-road information, a practical and systematic coordinative traction control algorithm was designed to integrate shifting control, engine torque control and braking pressure control. Finally, the proposed methods are verified by both simulations and road tests. The results show that the estimation algorithms can identify the variation in the road conditions with considerable accuracy and response speed, and the controller successfully adjusted the slip ratios of the driving wheels in the stable region with good performances on different types of road.

关键词： Traction control tyre-road friction coefficient estimation sliding-mode observer recursive least-squares method coordinative control

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Numerical and experimental identifications of a motor-toggle mechanism

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APPLIED MATHEMATICAL MODELLING 2009年第5期33卷 2502-2517页

作者： Huang, Ming-Shyan Chen, Kun-Yung Fung, Rong-Fong Natl Kaohsiung First Univ Sci & Technol Dept Mech & Automat Engn Kaohsiung 824 Taiwan

In this paper, the punching machine is made up by a toggle mechanism driven by a permanent magnet (PM) synchronous servomotor. First, Hamilton's principle, Lagrange multiplier, geometric constraints and partitioning method are employed to derive its dynamic equations. The system parameters are difficult to obtain if the mechanism's components cannot be taken apart. In this paper, the recursive least-squares (RLS) method is adopted to identify these parameters of the motor-toggle mechanism, which cannot be disassembled and their real values cannot be measured. From the comparison between the numerical simulations and experimental results, it is shown that the RLS identification method is feasible, and the parameters of links' masses and friction coefficient are identified accurately. (C) 2008 Elsevier Inc. All rights reserved.

关键词： Toggle mechanism Hamilton's principle recursive least-squares method Identification

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