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Chapter

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Title

Extended State Observer Based Parameter Identification of the Hovercraft System

Authors

[ 1 ] Instytut Automatyki i Robotyki, Wydział Automatyki, Robotyki i Elektrotechniki, Politechnika Poznańska | [ P ] employee

Scientific discipline (Law 2.0)

[2.2] Automation, electronics, electrical engineering and space technologies

Year of publication

2022

Chapter type

chapter in monograph / paper

Publication language

english

Keywords
EN
  • Robust control
  • Parameter estimation
  • Heuristic algorithms
  • Estimation
  • Observers
  • Position measurement
  • Stability analysis
Abstract

EN In this paper, a problem of online identification of the dynamic parameters of the hovercraft system is considered. A novel approach is presented, which employs an extended state observer and takes advantage of the total disturbance estimate as a basis of gradient identification method. This enables simultaneous estimation of both the state of the plant and the values of the system parameters. Although the identification algorithm is synthesized under the assumption that the velocities of the vehicle are measurable, the experimental results show that these can also be estimated and only availability of the positional measurements are required in practical scenarios. The results of simulations and experiments are presented as a proof-of-concept of the extended state observer based identification.

Pages (from - to)

330 - 335

DOI

10.1109/MMAR55195.2022.9874346

URL

https://ieeexplore.ieee.org/document/9874346

Book

26th International Conference on Methods and Models in Automation and Robotics (MMAR)

Presented on

26th International Conference on Methods and Models in Automation and Robotics, MMAR 2022, 22-25.08.2022, Międzyzdroje, Poland

Ministry points / chapter

20

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