Fictitious Reference Signal Based Real-Time Update of State Feedback Gains and its Experimental Verification-Reference-Cited by-同舟云学术

Fictitious Reference Signal Based Real-Time Update of State Feedback Gains and its Experimental Verification

Published:2016-10-20 Issue:5 Volume:28 Page:625-632
ISSN:1883-8049
Container-title:Journal of Robotics and Mechatronics
language:en
Short-container-title:J. Robot. Mechatron.

Author:

Okano Yuki, ,Kaneko Osamu,

Abstract

[abstFig src='/00280005/02.jpg' width='300' text='Real-time update of state feedback gains' ] This paper presents a new real-time parameter tuning in the data-driven framework. We focus on the tuning of state feedback gains to realize the desired performance of closed loop systems. For a real-time update tuning of this type of a controller, the notion of fictitious reference signal or the fictitious exogenous signal is utilized to generate the optimal gains in the real-time by using the measured past data. We also explain how the optimization can be realized as a recursive computation in real-time updates. Finally, an experiment is done to verify the effectiveness of the proposed method.

Publisher

Fuji Technology Press Ltd.

Subject

Electrical and Electronic Engineering,General Computer Science

Reference20 articles.

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5. S. Masuda, “A Model Reference Adaptive Control Using On-Line Direct Control Parameter Tuning Method,” J. of the Society of Instruments and Control Engineers, Vol.52, No.10, pp. 860-865, 2013 (in Japanese).

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