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a r t i c l e i n f o a b s t r a c t This paper considers the identification problems of the Hammerstein nonlinear systems. A projection and a stochastic gradient (SG) identification algorithms are presented for the Hammerstein nonlinear systems by using the gradient search method. Since the projection algorithm is sensitive to noise and the SG algorithm(More)
A systematic solution to precision control of modular robot manipulators without using joint torque sensing is presented in this paper for the first time. Using the virtual decomposition control (VDC) approach with embedded field programmable gate array (FPGA) logic devices, the proposed solution solves a long-standing problem of lacking control precision(More)
Studies of the biology of aging (both experimental and evolutionary) frequently involve the estimation of parameters arising in various multi-parameter survival models such as the Gompertz or Weibull distribution. Standard parameter estimation methodologies, such as maximum likelihood estimation (MLE) or nonlinear regression (NLR), require knowledge of the(More)
A multiinnovation least-squares (MILS) identification algorithm is presented for linear regression models with unknown parameter vectors by expanding the innovation length in the traditional recursive least-squares (RLS) algorithm from the viewpoint of innovation modification. Because the proposed MILS algorithm uses p innovations (not only the current(More)