DOI 10.17586/0021-3454-2017-60-9-834-841
UDC 681.51
ROBOTIC TRACKING SYSTEM WITH FAST ADAPTATION TO UNKNOWN TRAJECTORY OF MOVEMENT
ITMO University, Saint Petersburg, 197101, Russian Federation; postgraduate,engineer
V. S. Gromov
ITMO University, Saint Petersburg, 197101, Russian Federation; Associate Professor
A. A. Vedyakov
ITMO University, Saint Petersburg, 197101, Russian Federation; Associate Professor
S. V. Shavetov
ITMO University; Student
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Abstract. The problem of tracking of a multi-sinusoidal signal with unknown parameters is solved with the use of a robotic system. The main feature of the proposed approach is a fast frequency estimation using the dynamic regressor extension and mixing (DREM) method allowing to improve performance of simultaneous multiple frequencies estimation. The developed compensation algorithm makes it possible to solve the problem in the presence of time delays. Results of the experimental study and comparison analysis of the robotic tracking system based on DREM and classical gradient methods are presented.
Keywords: frequency estimation, multi-sinusoidal signal compensation, adaptation, tracking, robotic system
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