Adaptive Forgetting through Multiple Models and Adaptive Control of Car Dynamics

• A new recursive identif ication method, Adaptive Forgetting through Multiple Models - AFMM, is presented and evaluated using computer simulations. AFMM is specif ically suited for identification of systems with jumping or rapidly changing parameters. It can be viewed as a particular way of implementing adaptive gains or adaptive forgetting factors for recursive identif ication. The new method essentiallyconsists of multiple Recursive Least Squares (RLS) algorithms running in parallel, each with a corresponding weighting factor. The simulations indicate that AFMM is able to track rapidly changing parameters well, and that the method is robust in several respects.

Ämnesord

TEKNIK OCH TEKNOLOGIER  -- Elektroteknik och elektronik -- Reglerteknik (hsv//swe)

ENGINEERING AND TECHNOLOGY  -- Electrical Engineering, Electronic Engineering, Information Engineering -- Control Engineering (hsv//eng)

Nyckelord

Adaptive forgetting

Multiple models

Adaptive control

Car dynamics

Publikations- och innehållstyp

vet (ämneskategori)

lic (ämneskategori)