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Experimental Verification of a Novel Quad-RLS Technique for Improving Real-time System Identification Performance: A Practical Approach to CMG

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  • Control Theory and Applications
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Abstract

This paper presents a Quad RLS(Q-RLS) technique with four RLSs under a fixed forgetting factor condition to improve the identification performance of a dynamical system in a real-time fashion. Although an adaptive RLS method with a variable forgetting factor and a higher order model may provide the modeling accuracy, their implementations are not easy because of leakage effects and relatively complex modeling. In practice, the fixed forgetting factor is still used for the RLS-based system identification. Therefore, a novel Q-RLS scheme with concurrent four RLSs is proposed as an alternative way for the better estimation performance in an on-line fashion. In the Q-RLS scheme, the first pair of the forward and inverse RLSs is to identify the forward and inverse models independently. The second pair of the forward and inverse RLSs is to improve the identification of the previously identified model. The proposed approach has several advantages: 1) The RLS with a fixed forgetting factor can avoid the leakage problem. 2) Both forward and inverse models are separately identified to improve the accuracy. 3) Q-RLS can have the 4th order filter structure, but provide the better identification performance. Three schemes such as a second-order RLS, a fourth-order RLS, and the Q-RLS are experimentally tested and their performances are compared for the state observation accuracy of the control moment gyroscope(CMG) system.

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Authors and Affiliations

  1. Intelligent Systems and Emotional Engineering (ISEE) Laboratory, Department of Mechatronics Engineering, Chungnam National University, 99 Daehak-ro, Yuseong-gu, Daejeon, 34134, Korea

    Sang-Deok Lee & Seul Jung

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  1. Sang-Deok Lee
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  2. Seul Jung
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Corresponding author

Correspondence to Seul Jung.

Additional information

Recommended by Associate Editor Yangmin Li under the direction of Editor Guang-Hong Yang. This work has been supported by the basic research funds through the contract of National Research Foundation of Korea (2016R1A2B2012031).

Sang-Deok Lee received his B.S. and M.S. degrees in Electronics Engineering from Cheonbuk National University, in 1998 and 2000, respectively. He joined LG Precision and Samsung Heavy Industry from 1998 to 2000 and from 2003 to 2014, respectively. He received his Ph.D. degree from Department of Mechatronics Engineering at Chungnam National University in 2018. His research interests are Mechatronic system identification and control.

Seul Jung received the B.S. degree in Electrical and Computer Engineering from Wayne State University, Detroit, MI, USA in 1988, and the M.S. and Ph.D. degrees in Electrical and Computer Engineering from the University of California, Davis, in 1991 and 1996, respectively. In 1997, he joined the Department of Mechatronics Engineering, Chungnam National University, where he is presently a professor. His research interests include intelligent Mechatronics systems, intelligent robotic systems, autonomous navigation, gyroscope applications, and robot education.

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Lee, SD., Jung, S. Experimental Verification of a Novel Quad-RLS Technique for Improving Real-time System Identification Performance: A Practical Approach to CMG. Int. J. Control Autom. Syst. 17, 1524–1534 (2019). https://doi.org/10.1007/s12555-018-0336-y

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  • DOI: https://doi.org/10.1007/s12555-018-0336-y

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