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Identification of Hybrid System based on Probability Weighted Multiple ARX Model
Shun Taguchi,Tatsuya Suzuki,SoichiroHayakawa,Shinkichi Inagaki 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
This paper proposes a Probability weighted ARX(PrARX) model where in the multiple ARX models are composed by the probabilistic weighting functions. As the probabilistic weighting function, a ‘softmax’ function is intro-duced. Then, the parameter estimation problem for the proposed model is formulated as a single optimization problem. Furthermore, the identified PrARX model can be easily transformed to the corresponding PWARX model with com-plete partitions between regions. Finally, the proposed model is applied to the modeling of the driving behavior, and the usefulness of the model is verified.