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TECHNICAL BRIEFS

Parametric Identification for Second-Order Nonlinear Systems in Closed-Loop Operations

[+] Author and Article Information
Jeng-Tze Huang

Department of Electronic Engineering, Vanung University of Technology, No. 1, Vanung Road, Chungli, 340 Taiwan, Republic of Chinajthuang@vnu.edu.tw

J. Dyn. Sys., Meas., Control 128(3), 686-690 (Apr 18, 2005) (5 pages) doi:10.1115/1.2238873 History: Received August 13, 2003; Revised April 18, 2005

A new scheme for identifying the parameters of second-order nonlinear systems, including those affine with the control input, is presented. First, a high-gain PD control is applied for the tracking of a prescribed reference trajectory, along which the regressor is persistently excited. Next, a parameter observer, modified from Huang (Huang, J. T., 2002, “An Adaptive Compensator for a Class of Linearly Parameterized Systems,” IEEE Trans. Automat. Control, 47 (3), pp. 483–486), is constructed to achieve the desired goals. Comparing to conventional methodologies, it is easier to implement for no acceleration signals or filtering of the system states being involved. Numerical examples are given in the final to demonstrate its effectiveness.

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Copyright © 2006 by American Society of Mechanical Engineers
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References

Figures

Grahic Jump Location
Figure 1

Tracking errors of a sinusoidal reference trajectory

Grahic Jump Location
Figure 2

Parameter errors with respect to the tracking task

Grahic Jump Location
Figure 3

Parameter errors with respect to a fixed angle regulation

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