JRM Vol.28 No.5 pp. 625-632
doi: 10.20965/jrm.2016.p0625


Fictitious Reference Signal Based Real-Time Update of State Feedback Gains and its Experimental Verification

Yuki Okano* and Osamu Kaneko**

*Graduate School of Natural Science and Technology, Kanazawa University
Kakuma-machi, Kanazawa, Ishikawa 920-1192, Japan

**Department of Mechanical Engineering and Intelligent Systems, The University of Electro-Communications
1-5-1 Chofugaoka, Chofu, Tokyo 182-8585, Japan

February 5, 2016
August 23, 2016
October 20, 2016
data-driven control, fictitious reference iterative tuning, real-time control, state feedback gains, integral type servo systems

Fictitious Reference Signal Based Real-Time Update of State Feedback Gains and its Experimental Verification

Real-time update of state feedback gains

This paper presents a new real-time parameter tuning in the data-driven framework. We focus on the tuning of state feedback gains to realize the desired performance of closed loop systems. For a real-time update tuning of this type of a controller, the notion of fictitious reference signal or the fictitious exogenous signal is utilized to generate the optimal gains in the real-time by using the measured past data. We also explain how the optimization can be realized as a recursive computation in real-time updates. Finally, an experiment is done to verify the effectiveness of the proposed method.

Cite this article as:
Y. Okano and O. Kaneko, “Fictitious Reference Signal Based Real-Time Update of State Feedback Gains and its Experimental Verification,” J. Robot. Mechatron., Vol.28, No.5, pp. 625-632, 2016.
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