Extrapolated state estimation in fixed point transformation-based adaptive control using fractional order feedback

Hemza Redjimi, J. Tar

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

In this paper the possible advantages of model-based state extrapolation is investigated in control tasks in which the signals of observation 'travel' from the location of sensing to that of the controller, and then the calculated control commands 'propagate' to the place of actuation. These effects have crucial significance in the context of the 'Fixed Point Transformation-based Adaptive Control' (FPTBAC) that adaptively deforms the input of an available imperfect model on the basis of fresh observations without improving this model by persistent modifications. For equal signal travel times (TD) the actuation at instant t is based on the controller's calculation at instant t - Td that is based on the observations made at instant t - 2Tq, that is in a 2Td long time-interval neither making observations, nor intervention by actuators are possible. This 'dead period' has double effects in the degradation of the controller's operation: a) the adaptive deformation is calculated on the basis of partly 'obsolete' information, and b) any extrapolation within this interval can be done on the basis of an imperfect model. Since in the FPTBAC design of the required tracking error relaxation can be designed independently of the details of the dynamic model, it naturally allows the application of 'Fractional Order' (FO) error feedback terms that has 'long memory effects' in contrast to its integer order-based counterparts. For this purpose a novel application of the Riemann-Liouville fractional order derivatives is suggested. It is concluded that this new FO feedback-based design can be successfully combined with the extrapolation based on the approximate model, and the FPTBAC-based adaptivity.

Original languageEnglish
Title of host publicationSAMI 2018 - IEEE 16th World Symposium on Applied Machine Intelligence and Informatics Dedicated to the Memory of Pioneer of Robotics Antal (Tony) K. Bejczy, Proceedings
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages27-32
Number of pages6
Volume2018-February
ISBN (Electronic)9781538647721
DOIs
Publication statusPublished - Mar 23 2018
Event16th World Symposium on Applied Machine Intelligence and Informatics Dedicated to the Memory of Pioneer of Robotics Antal (Tony) K. Bejczy, SAMI 2018 - Kosice, Herl'any, Slovakia
Duration: Feb 7 2018Feb 10 2018

Other

Other16th World Symposium on Applied Machine Intelligence and Informatics Dedicated to the Memory of Pioneer of Robotics Antal (Tony) K. Bejczy, SAMI 2018
CountrySlovakia
CityKosice, Herl'any
Period2/7/182/10/18

Fingerprint

State Estimation
State estimation
Fractional Order
Adaptive Control
Fixed point
Extrapolation
Instant
Feedback
Controller
Imperfect
Controllers
Adaptive Design
Interval
Memory Effect
Approximate Model
Long Memory
Adaptivity
Travel Time
Control Design
Travel time

Keywords

  • Adaptive Control
  • Fixed Point Transformations-Based Adaptive Control
  • Fractional Order Calculus
  • Time-Delayed Systems

ASJC Scopus subject areas

  • Computer Science Applications
  • Hardware and Architecture
  • Control and Optimization
  • Artificial Intelligence

Cite this

Redjimi, H., & Tar, J. (2018). Extrapolated state estimation in fixed point transformation-based adaptive control using fractional order feedback. In SAMI 2018 - IEEE 16th World Symposium on Applied Machine Intelligence and Informatics Dedicated to the Memory of Pioneer of Robotics Antal (Tony) K. Bejczy, Proceedings (Vol. 2018-February, pp. 27-32). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/SAMI.2018.8324850

Extrapolated state estimation in fixed point transformation-based adaptive control using fractional order feedback. / Redjimi, Hemza; Tar, J.

SAMI 2018 - IEEE 16th World Symposium on Applied Machine Intelligence and Informatics Dedicated to the Memory of Pioneer of Robotics Antal (Tony) K. Bejczy, Proceedings. Vol. 2018-February Institute of Electrical and Electronics Engineers Inc., 2018. p. 27-32.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Redjimi, H & Tar, J 2018, Extrapolated state estimation in fixed point transformation-based adaptive control using fractional order feedback. in SAMI 2018 - IEEE 16th World Symposium on Applied Machine Intelligence and Informatics Dedicated to the Memory of Pioneer of Robotics Antal (Tony) K. Bejczy, Proceedings. vol. 2018-February, Institute of Electrical and Electronics Engineers Inc., pp. 27-32, 16th World Symposium on Applied Machine Intelligence and Informatics Dedicated to the Memory of Pioneer of Robotics Antal (Tony) K. Bejczy, SAMI 2018, Kosice, Herl'any, Slovakia, 2/7/18. https://doi.org/10.1109/SAMI.2018.8324850
Redjimi H, Tar J. Extrapolated state estimation in fixed point transformation-based adaptive control using fractional order feedback. In SAMI 2018 - IEEE 16th World Symposium on Applied Machine Intelligence and Informatics Dedicated to the Memory of Pioneer of Robotics Antal (Tony) K. Bejczy, Proceedings. Vol. 2018-February. Institute of Electrical and Electronics Engineers Inc. 2018. p. 27-32 https://doi.org/10.1109/SAMI.2018.8324850
Redjimi, Hemza ; Tar, J. / Extrapolated state estimation in fixed point transformation-based adaptive control using fractional order feedback. SAMI 2018 - IEEE 16th World Symposium on Applied Machine Intelligence and Informatics Dedicated to the Memory of Pioneer of Robotics Antal (Tony) K. Bejczy, Proceedings. Vol. 2018-February Institute of Electrical and Electronics Engineers Inc., 2018. pp. 27-32
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