Persistently-exciting signal generation for Optimal Parameter Estimation of constrained nonlinear dynamical systems

Honório, Leonardo de Mello; Costa, Exuperry Barros; Oliveira, Edimar J. de; Fernandes, Daniel de Almeida; Moreira, António Paulo

doi:10.1016/j.isatra.2018.03.024

Cited by 19 publications

(16 citation statements)

References 30 publications

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“…In this case study, the parameters initially estimated were improved by the optimal parametric estimation method called SOESGOPE [35,36], with the intention of adding operating characteristics not yet covered by the initial CFD model. The results obtained are presented in Figure 19, while Table 5 shows the Root Mean Squared Error (RMSE).…”

Section: Comparisons Between the Model Estimated And The Practical Testsmentioning

confidence: 99%

Hull and Aerial Holonomic Propulsion System Design for Optimal Underwater Sensor Positioning in Autonomous Surface Vessels

Regina

Honório

Pancoti

et al. 2021

Sensors

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Acoustic Doppler Current Profiler (ADCP) sensors measure water inflows and are essential to evaluate the Flow Curve (FC) of rivers. The FC is used to calibrate hydrological models responsible for planning the electrical dispatch of all power plants in several countries. Therefore, errors in those measures propagate to the final energy cost evaluation. One problem regarding this sensor is its positioning on the vessel. If placed on the bow, it becomes exposed to flowing obstacles, and if it is installed on the stern, the redirected water from the boat and its propulsion system change the sensor readings. To improve the sensor readings, this paper proposes the design of a catamaran-like Autonomous Surface Vessel (ASV) with an optimized hull design, aerial propulsion, and optimal sensor placement to keep them protected and precise, allowing inspections in critical areas such as ultra-shallow waters and mangroves.

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Section: Comparisons Between the Model Estimated And The Practical Testsmentioning

confidence: 99%

Hull and Aerial Holonomic Propulsion System Design for Optimal Underwater Sensor Positioning in Autonomous Surface Vessels

Regina

Honório

Pancoti

et al. 2021

Sensors

Self Cite

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“…It can be achieved exciting the system with a swept sine wave input, also known as chirp signal. It is a persistently exciting signal used to disturb the system over a specified range of frequencies (Honorio et al, 2018).…”

Section: Data Collectionmentioning

confidence: 99%

Model-Based Approach for Cornering Stiffness and Yaw Moment of Inertia Estimation of a Scaled Electric Vehicle

Ribeiro

Fioravanti

Paiva

2020

Anais Do Congresso Brasileiro De Automática 2020

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This paper addresses the problem of estimating the tire cornering stiffness coecient and the yaw moment of inertia of a scaled car-like vehicle. The method merges measurements information of the vehicle lateral response along with its nonlinear planar model. Aiming effective and accurate results, we propose solving an optimization problem based on a representative dataset obtained experimentally using a persistently exciting input. The validation of the proposed method is shown by comparing the agreement between numerical simulations, evaluated with the estimated parameters, with experimental data. Three representative maneuvers are considered for this purpose, including indoor and outdoor experiments.

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“…Despite this need for a signal with high persistence of excitation, it is observed that most studies related to ASVs, or even to marine vehicles in general, do not use this type of approach. Instead most works use low complexity signals as seen in [18], [19], [27].However different approaches are shown in [28]- [31] and [32], where the design of an optimal APRBS were presented. A major advanced shown in those approaches is the possibility of incorporating operational or safety constraints together with the optimization of the excitation persistence.…”

Section: Introductionmentioning

confidence: 99%

Development of Optimal Parameter Estimation Methodologies Applied to a 3DOF Autonomous Surface Vessel

et al. 2021

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Autonomous Surface Vessels (ASVs) are reliable and robust vehicles. They perform autonomous missions in lakes, rivers and even open waters. Those are dangerous environments that requires precise and secure navigation. Under these conditions, the knowledge of a robust and accurate mathematical model is a fundamental aspect for adjusting the control system for reaching safety and performance. Moreover, traditional mathematical models disregard assimetries and coupling between the degrees of freedom. While those models work fine for bigger vessels, to ignore these characteristics in small ASVs compromises the model's quality. In this context, this work presents a new methodology for modeling and identifying the dynamics of ASVs along with the uncertainties arising from disturbances and non-modeled dynamics. As for the uncertainties and disturbances, this work considers the coupling parameters into the mathematical modeling, which synthesizes the divergences between the model and the real application, allowing to incorporate asymmetries and model deficiencies. Regarding the parameter identification, the proposal is based on (i) the design of optimal input excitation signals from a double layer optimization methodology and (ii) a parametric estimation concept in two steps, dividing the original set of parameters into two partially coupled sub-problems. Finally, this work also presents a full discussion and analysis about the importance to manage the trade-off between precision and complexity of mathematical models, its respective solution spaces and the impact over the optimization algorithms. To validate the approach, a real 3 Degree of Freedom ASV with aerial holonomic propulsion system is used. The results show that it is possible to successfully capture the complex set of parameters and identify physical characteristics not considered by the model.

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Persistently-exciting signal generation for Optimal Parameter Estimation of constrained nonlinear dynamical systems

Cited by 19 publications

References 30 publications

Hull and Aerial Holonomic Propulsion System Design for Optimal Underwater Sensor Positioning in Autonomous Surface Vessels

Hull and Aerial Holonomic Propulsion System Design for Optimal Underwater Sensor Positioning in Autonomous Surface Vessels

Model-Based Approach for Cornering Stiffness and Yaw Moment of Inertia Estimation of a Scaled Electric Vehicle

Development of Optimal Parameter Estimation Methodologies Applied to a 3DOF Autonomous Surface Vessel

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