Name
Title | ||
|---|---|---|
Multiple model adaptive estimation and model identification using a minimum energy criterion |
Abstract | ||
|---|---|---|
This paper addresses the problem of Multiple Model Adaptive Estimation (MMAE) for discrete-time, linear, time-invariant MIMO plants with parameter uncertainty and unmodeled dynamics. Model identification is analyzed in a deterministic setting by adopting a Minimum Energy selection criterion. The MMAE system relies on a finite number of local observers, each designed using a selected model (SM) from the original set of possibly infinite plant models. Results akin to those previously obtained in a stochastic setting are derived in a far simpler manner, in a deterministic framework. We show, under suitable distinguishability conditions, that the SM identified is the one that corresponds to the observer with smallest output prediction error energy. We also develop a procedure to analyze the behavior of MMAE when the true plant is not one of the SMs. This leads to an algorithm that computes, for each SM, the set of equivalently identified plants, that is, the set of plants that will be identified as that particular SM. The impact of unmodeled dynamics on model identification is discussed. Simulation results with a model of a motor coupled to a load via an elastic shaft illustrate the performance of the methodology derived. |
Year | DOI | Venue |
|---|---|---|
2009 | 10.1109/ACC.2009.5160446 | ACC'09 Proceedings of the 2009 conference on American Control Conference |
Keywords | DocType | ISSN |
multiple model adaptive estimation,time-invariant mimo plant,selected model,unmodeled dynamic,minimum energy criterion,original set,mmae system,infinite plant model,model identification,deterministic framework,stochastic setting,particular sm,uncertainty,mimo,parameter estimation,linear time invariant,information analysis,linear systems,samarium,computational modeling,identification,discrete time,kalman filters,noise,prediction error,stochastic processes | Conference | 0743-1619 |
Citations | PageRank | References |
3 | 0.71 | 5 |
Authors | ||
4 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Vahid Hassani | 1 | 11 | 2.69 |
| Aguiar, A. | 2 | 686 | 63.85 |
| Michael Athans | 3 | 210 | 111.10 |
| António M. Pascoal | 4 | 194 | 23.65 |