Fictitious Reference Signal Based Real-Time Update of State Feedback Gains and its Experimental Verification | Zendy

Yuki Okano | Zendy; Osamu Kaneko | Zendy

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Fictitious Reference Signal Based Real-Time Update of State Feedback Gains and its Experimental Verification

Author(s) -

Yuki Okano,

Osamu Kaneko

Publication year - 2016

Publication title -

journal of robotics and mechatronics

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.257

H-Index - 19

eISSN - 1883-8049

pISSN - 0915-3942

DOI - 10.20965/jrm.2016.p0625

Subject(s) - computer science , signal (programming language) , control theory (sociology) , focus (optics) , computation , state (computer science) , controller (irrigation) , feedback loop , control engineering , algorithm , control (management) , artificial intelligence , engineering , programming language , agronomy , physics , computer security , optics , biology

[abstFig src='/00280005/02.jpg' width='300' text='Real-time update of state feedback gains' ] This paper presents a new real-time parameter tuning in the data-driven framework. We focus on the tuning of state feedback gains to realize the desired performance of closed loop systems. For a real-time update tuning of this type of a controller, the notion of fictitious reference signal or the fictitious exogenous signal is utilized to generate the optimal gains in the real-time by using the measured past data. We also explain how the optimization can be realized as a recursive computation in real-time updates. Finally, an experiment is done to verify the effectiveness of the proposed method.

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