A Finite Time Convergent Least-Squares Modification of the Dynamic Regressor Extension and Mixing Algorithm

Research output: Contribution to journalConference article

Abstract

The recently proposed Dynamic Regressor Extension and Mixing (DREM) algorithm can be used to estimate the parameters of structured uncertainties contained in the mathematical model of a plant. In order to provide an adaptation that is less sensitive to the unavoidable mismatch between a plant and its model a least-squares based modification of the DREM estimator is proposed in this paper. The modified estimator yields significantly better estimation results as illustrated by the conducted real-world experiment and its parameter estimates also converge within finite time.
Original languageEnglish
Pages (from-to)5105-5110
JournalIFAC-PapersOnLine
Volume53
Issue number2
DOIs
Publication statusPublished - 2020
Event21st IFAC World Congress - Virtuell, Germany
Duration: 12 Jul 202017 Jul 2020

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