A Wave Peak Frequency Tracking Method Based on Two-Stage Recursive Extended Least Squares Identification Algorithm

This paper proposes the wave peak frequency tracking methods based on the least squares identification algorithm. The wave disturbance model is transformed into an autoregressive moving average (ARMA) model and a recursive extended least squares (RELS) algorithm is derived to identify the model parameters by using the auxiliary model identification idea. Furthermore, a two-stage recursive extended least squares (2S-RELS) algorithm is presented to improve the convergence speed by using the hierarchical identification principle. A ship heading control system with the wave peak frequency tracker is built to evaluate the effectiveness of the proposed algorithms. Finally, simulation results show that the proposed algorithms can estimate the wave peak frequency accurately and the 2S-RELS algorithm can improve the convergence speed effectively.

[1]  Xiangli Li,et al.  State space model identification of multirate processes with time-delay using the expectation maximization , 2019, J. Frankl. Inst..

[2]  Jicheng Liu,et al.  Moving horizon estimation for multirate systems with time-varying time-delays , 2019, J. Frankl. Inst..

[3]  Tao Tang,et al.  Recursive least squares estimation algorithm applied to a class of linear-in-parameters output error moving average systems , 2014, Appl. Math. Lett..

[4]  Xiao Zhang,et al.  Hierarchical parameter and state estimation for bilinear systems , 2020, Int. J. Syst. Sci..

[5]  Vincent Creuze,et al.  Adaptive disturbance observer for trajectory tracking control of underwater vehicles , 2020 .

[6]  Qinyao Liu,et al.  Recursive identification of bilinear time-delay systems through the redundant rule , 2020, J. Frankl. Inst..

[7]  Shuhong Chai,et al.  Unscented Kalman Filter trained neural network control design for ship autopilot with experimental and numerical approaches , 2019, Applied Ocean Research.

[8]  Jiling Ding,et al.  Recursive and Iterative Least Squares Parameter Estimation Algorithms for Multiple-Input–Output-Error Systems with Autoregressive Noise , 2018, Circuits Syst. Signal Process..

[9]  Chunqiu Guo,et al.  The Auxiliary Model Based Hierarchical Estimation Algorithms for Bilinear Stochastic Systems with Colored Noises , 2020 .

[10]  Ahmed Alsaedi,et al.  Gradient estimation algorithms for the parameter identification of bilinear systems using the auxiliary model , 2020, J. Comput. Appl. Math..

[11]  Thor I. Fossen,et al.  Marine Control Systems Guidance, Navigation, and Control of Ships, Rigs and Underwater Vehicles , 2002 .

[12]  Feng Ding,et al.  Recursive Least Squares and Multi-innovation Stochastic Gradient Parameter Estimation Methods for Signal Modeling , 2017, Circuits Syst. Signal Process..

[13]  Ling Xu,et al.  Recursive parameter estimation methods and convergence analysis for a special class of nonlinear systems , 2019, International Journal of Robust and Nonlinear Control.

[14]  Feng Ding,et al.  A hierarchical least squares identification algorithm for Hammerstein nonlinear systems using the key term separation , 2018, J. Frankl. Inst..

[15]  Meihang Li,et al.  Auxiliary Model Based Least Squares Iterative Algorithms for Parameter Estimation of Bilinear Systems Using Interval-Varying Measurements , 2018, IEEE Access.

[16]  Fang Deng,et al.  UKF Based Nonlinear Offset-free Model Predictive Control for Ship Dynamic Positioning Under Stochastic Disturbances , 2019, International Journal of Control, Automation and Systems.

[17]  Fang Deng,et al.  Adaptive Unscented Kalman Filter Based Estimation and Filtering for Dynamic Positioning with Model Uncertainties , 2019, International Journal of Control, Automation and Systems.

[18]  Mingcong Deng,et al.  Robust fault tolerant tracking control for the multi-joint manipulator based on operator theory , 2020, J. Frankl. Inst..

[19]  Feng Ding,et al.  Hierarchical estimation algorithms for multivariable systems using measurement information , 2014, Inf. Sci..

[20]  Trygve Lauvdal,et al.  Robust adaptive ship autopilot with wave filter and integral action , 1998 .

[21]  Ling Xu,et al.  A Recursive Parameter Estimation Algorithm for Modeling Signals with Multi-frequencies , 2020, Circuits Syst. Signal Process..

[22]  Feng Ding,et al.  Combined state and least squares parameter estimation algorithms for dynamic systems , 2014 .

[23]  Feng Ding,et al.  The auxiliary model based hierarchical gradient algorithms and convergence analysis using the filtering technique , 2016, Signal Process..

[24]  Kristin Ytterstad Pettersen,et al.  Observer Based Path Following for Underactuated Marine Vessels in the Presence of Ocean Currents: A Global Approach - With proofs , 2018, ArXiv.

[25]  Leigh McCue,et al.  Handbook of Marine Craft Hydrodynamics and Motion Control [Bookshelf] , 2016, IEEE Control Systems.

[26]  Yan He,et al.  Recursive Least Squares Parameter Estimation Algorithms for a Class of Nonlinear Stochastic Systems With Colored Noise Based on the Auxiliary Model and Data Filtering , 2019, IEEE Access.

[27]  Feng Ding,et al.  Hierarchical Newton and least squares iterative estimation algorithm for dynamic systems by transfer functions based on the impulse responses , 2018, Int. J. Syst. Sci..

[28]  Yan Ji,et al.  Hierarchical least squares parameter estimation algorithm for two-input Hammerstein finite impulse response systems , 2020, J. Frankl. Inst..

[29]  Wang Xian-zhou,et al.  Robust autopilot with wave filter for ship steering , 2006 .

[30]  Hassan Nouri,et al.  Bias compensation‐based parameter and state estimation for a class of time‐delay non‐linear state‐space models , 2020, IET Control Theory & Applications.

[31]  Xiao Zhang,et al.  Adaptive parameter estimation for a general dynamical system with unknown states , 2020, International Journal of Robust and Nonlinear Control.

[32]  Erfu Yang,et al.  State filtering‐based least squares parameter estimation for bilinear systems using the hierarchical identification principle , 2018, IET Control Theory & Applications.

[33]  Ling Xu,et al.  Decomposition‐based multiinnovation gradient identification algorithms for a special bilinear system based on its input‐output representation , 2020, International Journal of Robust and Nonlinear Control.

[34]  Y. Liu,et al.  Gradient-based and least-squares-based iterative estimation algorithms for multi-input multi-output systems , 2012, J. Syst. Control. Eng..

[35]  Yan Ji,et al.  Hierarchical recursive generalized extended least squares estimation algorithms for a class of nonlinear stochastic systems with colored noise , 2019, J. Frankl. Inst..

[36]  Feng Ding,et al.  State estimation for bilinear systems through minimizing the covariance matrix of the state estimation errors , 2019, International Journal of Adaptive Control and Signal Processing.

[37]  T.I. Fossen,et al.  Kalman filtering for positioning and heading control of ships and offshore rigs , 2009, IEEE Control Systems.

[38]  Ximei Liu,et al.  Two‐stage auxiliary model gradient‐based iterative algorithm for the input nonlinear controlled autoregressive system with variable‐gain nonlinearity , 2020, International Journal of Robust and Nonlinear Control.

[39]  Qinyao Liu,et al.  Recursive coupled projection algorithms for multivariable output-error-like systems with coloured noises , 2020, IET Signal Process..

[40]  Tao Yu,et al.  Parameter estimation for block‐oriented nonlinear systems using the key term separation , 2020, International Journal of Robust and Nonlinear Control.

[41]  Xiaoyi Wang,et al.  A health performance evaluation method of multirotors under wind turbulence , 2020, Nonlinear Dynamics.

[42]  Roberto Galeazzi,et al.  Experimental verification of a global exponential stable nonlinear wave encounter frequency estimator , 2015 .

[43]  Petros A. Ioannou,et al.  Adaptive steering control for uncertain ship dynamics and stability analysis , 2013, Autom..

[44]  Yu Zhang,et al.  Capacity allocation of HESS in micro-grid based on ABC algorithm , 2020, International Journal of Low-Carbon Technologies.

[45]  C. L. Philip Chen,et al.  Adaptive Robust Output Feedback Control for a Marine Dynamic Positioning System Based on a High-Gain Observer , 2015, IEEE Transactions on Neural Networks and Learning Systems.

[46]  Ajith Abraham,et al.  A Trajectory Tracking Robust Controller of Surface Vessels With Disturbance Uncertainties , 2014, IEEE Transactions on Control Systems Technology.

[47]  Ling Xu,et al.  Separable multi‐innovation stochastic gradient estimation algorithm for the nonlinear dynamic responses of systems , 2020, International Journal of Adaptive Control and Signal Processing.

[48]  Luis Hernández,et al.  Wave filtering for heading control of an AUV based on passive observer , 2012 .

[49]  Ling Xu,et al.  Hierarchical Multi-Innovation Generalised Extended Stochastic Gradient Methods for Multivariable Equation-Error Autoregressive Moving Average Systems , 2020 .

[50]  Ling Xu,et al.  The damping iterative parameter identification method for dynamical systems based on the sine signal measurement , 2016, Signal Process..

[51]  T. Hayat,et al.  Hierarchical Parameter Estimation for the Frequency Response Based on the Dynamical Window Data , 2018, International Journal of Control, Automation and Systems.

[52]  Feng Ji,et al.  Self-reconfiguration batteries with stable voltage during the full cycle without the DC-DC converter , 2020 .

[53]  Xiangkui Wan,et al.  Two-stage Gradient-based Iterative Estimation Methods for Controlled Autoregressive Systems Using the Measurement Data , 2020, International Journal of Control, Automation and Systems.

[54]  Tor Arne Johansen,et al.  Design of inertial navigation systems for marine craft with adaptive wave filtering aided by triple‐redundant sensor packages , 2017 .

[55]  Sanjay E. Talole,et al.  Robust Steering Autopilot Design for Marine Surface Vessels , 2016, IEEE Journal of Oceanic Engineering.

[56]  Yan Zhang,et al.  Auxiliary model based multi-innovation algorithms for multivariable nonlinear systems , 2010, Math. Comput. Model..

[57]  Ling Xu,et al.  Highly computationally efficient state filter based on the delta operator , 2019, International Journal of Adaptive Control and Signal Processing.

[58]  Antonio M. Pascoal,et al.  A Multiple Model Adaptive Wave Filter for Dynamic Ship Positioning , 2010 .

[59]  Feng Ding,et al.  Modeling Nonlinear Processes Using the Radial Basis Function-Based State-Dependent Autoregressive Models , 2020, IEEE Signal Processing Letters.

[60]  Jana Fuhrmann,et al.  Guidance And Control Of Ocean Vehicles , 2016 .

[61]  F. Ding,et al.  Recursive parameter estimation and its convergence for bilinear systems , 2020, IET Control Theory & Applications.

[62]  Henk Nijmeijer,et al.  A Globally K-Exponentially Stable Nonlinear Observer for the Wave Encounter Frequency , 2013 .

[63]  Feng Ding,et al.  Parameter estimation algorithms for dynamical response signals based on the multi-innovation theory and the hierarchical principle , 2017, IET Signal Process..