文章基本信息

标题：Adaptive Tracking of a Multi-Sinusoidal Signal with DREM-Based Parameters Estimation
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作者：Oleg I. Borisov ; Vladislav S. Gromov ; Alexey A. Vedyakov 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2017
卷号：50
期号：1
页码：4282-4287
DOI：10.1016/j.ifacol.2017.08.835
语种：English
出版社：Elsevier
摘要：AbstractIn this paper tracking of an unknown multi-sinusoidal signal with fast online frequency estimation is addressed. The latter has been achieved by the so-called dynamic regressor extension and mixing (DREM) approach, which allows to increase performance of multiple frequency estimation. Designed predictive compensation algorithm is capable to operate under presence of computational or transmission delays. The resultant controller has been implemented to a robotic arm with a computer vision system. An extensive experimental study shows undoubted advantages of the DREM-based frequency estimator in comparison to the classical gradient approach. A detailed analysis of the transient response properties is provided in the paper.
关键词：KeywordsAdaptive controltarget trackingfrequency estimationtime delayrobotic manipulators