Browse > Article

Parameter Estimation of 2-DOF Dynamic System using Particle Filter  

Kim, Tae-Yeong (Electronics and Information Department, Chonbuk National University)
Chong, Kil-To (Electronics and Information Department, Chonbuk National University)
Publication Information
Journal of the Institute of Electronics Engineers of Korea SC / v.49, no.2, 2012 , pp. 10-16 More about this Journal
Abstract
Currently, the majority of systems which are non-linear are in need of the correct system equations for controlling and monitoring. Therefore, the correct estimation of parameters is crucial. Generally, parameters are changed due to system deterioration or sudden environmental alterations. Given the limitations of system monitoring unstable controls can arise. In the following paper, the parameter estimation method is proposed using software filters to combat these system instabilities. For dynamic instances, a powerful particle filter is used to control the nonlinear and noisy environments in which they take place. Using a setup simulation comprised of a slider and pendulum, the state variable of noise is obtained. After collecting the data, the proposed algorithm is used to estimate both the state variable and its parameters. Finally, these results are checked with correct parameter estimations to evaluate and verify the algorithms performance.
Keywords
Non-linear system; Dynamics; Particle filter; Parameter estimation;
Citations & Related Records
연도 인용수 순위
  • Reference
1 D. T. Lee, M. Morf, and B. Friedkander, "Recursive least - squares ladder estimation algorithm,' IEEE Trans. Acoust Speech. Signal Processing, vol. 29, pp. 627-641, 1981.   DOI
2 J. Swevers, C. S. Gansenman, D. B. Tukel, J. De schutter, "Optimal Robot Excitation and Identification", IEEE Transactions on Robotics and Automation, vol. 13, No. 5, pp. 730-740, October, 1997.   DOI
3 Fernado reyes, "On Parameter identification of robot manipulators", IEEE International Confernce on Robotics and Automation, 1997.
4 오원석, "신경망이론을 이용한 유도전동기 파라미터 추정," 전자공학회논문지, 35권, 제2호, 56-65쪽, 1998년.
5 Sung-Kwun Oh, Witold Pedrycz, Seok-Beom Rho, Tae-Chon Ahn, "Parameter estimation of fuzzy controller and its application to inverted pendulum", Engineering Applications of Artificial Intelligence, Vol. 17, pp.37-60, 2004.   DOI
6 김기원, 서청만, 최성구, 노도환, "칼만필터를 이용한 3 차원 동작파라미터 추정에 관한 연구," 대한전자공학회 하계종합학술대회, 17권. 1호, 939-942쪽, 1994.
7 M. Orchard, G. Kacprzynski, K. Goebel, B. Saha, and G. Vachtsevanos, "Advance in Uncertainty Representation and Management for Particle filtering Applied to Prognostics," In Proceedings of International Conference on Prognostics and Health Management 2008, pp 1-6, Oct 2008.
8 천기홍, 강행봉, "스케일에 강건한 물체 추적 기법," 전자공학회논문지, 45권, 6호, 194-203쪽, 2008.
9 Hamid Moradkhani Moradkhani and Kuo-Lin Hsu, "Uncertainty assessment of hydrologic model states and parameters: Sequential data assimilation using the particle, filter" Water Resour. Res., vol. 41, W05012, doi:10.1029/2004WR003604, 2005
10 Andrew K. Stimac, "Standup and Stabilization of the Inverted Pendulum," MIT, master thesis, 1999.
11 K. T. Chong, J. H. Park, A. G. Parlos, "Control-Relevant Discretization of Nonlinear Systems With Time-Delay Using Taylor-Lie Series," Journal of Dynamic Systems, Measurement, and Control, vol. 127, pp.153-159, 2005.
12 A. Doucet, J. F. G. de Freitas, and N. J. Gordon, "An introduction to sequential Monte Carlo methods," in Sequential Monte Carlo Methods in Practice, A. Doucet, J. F. G. de Freitas, and N. J. Gordon, Eds. New York: Springer-Verlag, 2001.
13 이원주, 윤창용, 이희진, 김은태, 박민용, "순차적인 사후 추정에 의한 다중 차량 추적," 전자공학회 논문지, 44권, 1호, 40-49쪽, 2007.
14 A. Doucet, "On sequential Monte Carlo methods for Bayesian Filtering," Dept. Eng., Univ. Cambridge, UK, Tech. Rep., 1998.
15 J. S. Liu and R. Chen, "Sequential Monte Carlo methods for dynamical systems," J. Amer. Statist. Assoc., vol. 93, pp. 1032-1044, 1998.   DOI
16 M. Sanjeev Arulampalam, Simon Maskell, Neil Gordon, and Clapp, "A Tutorial on Particle Filters for Online Nonlinear/Non-Gaussian Bayesian Tracking," IEEE Trans. Signal Processing, vol. 50, no. 2, pp. 174-188, Feb. 2002.   DOI