Brief A VSS identification scheme for time-varying parameters

Authors:
Jian-Xin Xu;Ya-Jun Pan;Tong-Heng Lee
Affiliations:
Electrical and Computer Engineering Department, National University of Singapore, 10 Kent Ridge Crescent, Singapore 117576, Singapore;Electrical and Computer Engineering Department, National University of Singapore, 10 Kent Ridge Crescent, Singapore 117576, Singapore;Electrical and Computer Engineering Department, National University of Singapore, 10 Kent Ridge Crescent, Singapore 117576, Singapore
Venue:
Automatica (Journal of IFAC)
Year:
2003

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Abstract

Based on variable structure system theory and sliding mode, we develop an identification scheme suitable for time-varying parameters. The new identification scheme, working in closed-loop, addresses several key issues in system identification simultaneously: unstable process, highly nonlinear and uncertain dynamics, fast time varying parameters and rational nonlinear in the parametric space. Other important issues associated with identification, such as the persistent excitation property and insensitivity to measurement noise, are also discussed. A robotic manipulator is used as the illustrative example and the basis for comparison.