PSO PARAMETERS OPTIMIZATION

FOR EKF AND AKF FOR IM ROTOR SPEED

K. El Merraoui and A. Ferdjouni

Dpartement dElectronique, F. Technologie, Univerit !aad Dahle" de #lida, Email$ e%&had'(ahoo.)r
a)erdjouni'hotmail.com


ABSTRACT This paper presents the application of a
Metaheuristic optimiation al!orithm for "eterminin! the
parameters of a PI controller an" the initial #alues of the
state an" measurement noise of Kalman Filter $KF%& The
particle s'arm optimiation $PSO% is a ne' techni(ue that
is use" to sol#e comple) pro*lems& It minimies a cost
function un"er the cooperation of man+ in"i#i"uals& KF is
use" here to estimate the stator currents an" rotor flu) of
the in"uction motor $IM%& The performances of e)ten"e"
Kalman Filter $EKF% an" the a"apti#e Kalman Filter
$AKF% are anal+e"& The+ are applie" to estimate stator
currents, rotor flu) an" rotor spee" of IM- an" thus help
to o#ercome the spee" sensor- 'hich is e)pensi#e an"
*ul.+& The EKF re(uires e)ten"in! the state #ector to
rotor spee"- 'hich implies to use the lineariation of the
mo"el& The AKF re(uires "eterminin! an a"aptation la'
of the rotor spee"& The sta*ilit+ of the estimation error is
pro#e" usin! a /+apuno# function&

.e+'or"s0 *!+ algorithm, Kalman Filter, induction motor,
,(apunov )unction, adaptation la-.

.. ./T0+DU1T.+/

.nduction motor 2.M3 pla( an important role in the
)ield o) electric indutrial actuator. .t i ro"ut and -ith
lo- cot4 -hich ma&e it a pre)erred choice in electric
drive -ith )i5ed or varia"le peed. Mathematical model
o) .M i nonlinear and trongl( coupled. Furthermore, it
i not poi"le to meaure it rotor )lu5. Meauring the
.M rotor peed i per)ormed "( a tachometer, -hich i
e5penive and "ul&( 678. To overcome the dra-"ac& o)
tachometer, o"erver are ued, -hich are a"le to
etimate "oth )lu5 and peed o) rotor. +"erver
(nthei ha "een a lot o) reearch 69, :, ;8 and
occupie a privileged poition in the range o) enorle
control method applied to .M. The Kalman )ilter i a
po-er)ul o"erver )or linear dicrete<time (tem and
i e5tenivel( ued in the )ield o) engineering. .t
(nthei i carried out "( minimi=ing the o"ervation
error variance. The ue o) KF -ith .M require the
meaurement o) rotor peed, and the aumption that it
i contant "et-een ampling intant. Thi aumption
ma&e the model o) .M linear. KF can "e e5tended to
etimate the rotor peed. Thi neceitate lineari=ing
.M model around an operating point. Another
alternative i to ue adaptive KF, -hich involve
determining an adaptation la-. A *. controller can "e
ued to improve the per)ormance o) thi olution. .nitial
value are necear( )or ue o) KF. The trial and error
method can "e ued, "ut it i tediou. Alternativel(,
*!+ algorithm i ued. Thi i alo applied to re)ine the
*. controller parameter.
.n thi -or&, EKF and AKF are developed, then,
*!+ algorithm i ued to determine the appropriate
initial value )or ue -ith EKF and AKF. !imulation
reult, )or "oth cae, are carried out. .n ection .., a
dicrete<time model o) and .M i developed. The KF,
EKF and AKF algorithm are dicued in ection ....
*!+ algorithm, aociated to EKF and AKF, i
preented in ection .>. !imulation reult and
comment are given in ection >.

... M+DE,,./? +F ./DU1T.+/ M+T+0

D(namical model o) .M i developed under
conventional aumption 678. The tator current, rotor
)lu5 and the rotor peed are tate varia"le. The
electromagnetic part o) the .M model in the tator<)i5ed
re)erence )rame i given "( equation 273 and 293.
Equation 2:3 give the rotor peed.

x = {(x, u) = Ax + Bu + H
d
w
y = C x(t) + I
273
x
1
= -o
1
x
1
+ o
2
x
3
+o
3
p x
4
+ b
1
u
1
+ w
1

x
2
= -o
1
x
2
+o
2
x
4
o
3
px
3
+ b
1
u
2
+w
2

x
3
= -o
4
x
3
+ o
5
x
1
px
4
+ w
3

x
4
= -o
4
x
4
+o
5
x
2
+ px
3
+ w
4


293
x = (x
1
, x
2
, x
3
, x
4
)
1
= (i
ds
, i
qs
,
d
,
q
)
1

w = (w
1
, w
2
, w
3
, w
4
)
1
i the tate noie vector.
: = (:
1
, :
2
)
1
i the meaurement noie vector.
y = (i
ds
, i
qs
)
1
i the meaured output vector4
u = (u
ds
, u
qs
)
1
i the input vector.


H
d
$ identit( matri5.
A, B anu C matrice o) equation 293 are done "($
i the rotor peed. .t d(namic i given "( equation
2:3

@ith$
o
1
=
1
oI
s
_R
s
+
I
m
2
I

2
R

_, o
2
=
I
m
oI
s
I

2
R

, o
3
=
I
m
oI
s
I

o = 1 -
L
m
2
L
s
L
r
, b
1
=
1
cL
s
, o
4
=
R
r
L
r
, o
5
=
R
r
L
r
I
m
,
o
6
=
I
m
[I

p, o
7
=
1
[
, o
8
=
{

[
, b
1
=
1
oI
s

T
l
i load torque. [ i the moment o) inertia.

A. Sampled model of the induction motor

A dicrete<time model o) the .M i o"tained "(
appl(ing a Ta(lor e5panion to equation 273. .t i
-ritten in the )ollo-ing )orm 2equation 2;33.

_
X(k +1) = A
d
X(k) + B
d
u(k) + H
d
w
d
(k)
(k) = C
d
X(k) + I
d
(k)

2;3

@here$
A
d
= c
At
c
I
4
+
At
c
1!
+
(At
c
)
2
2!


B
d
= _ c
At
c
B
t
c
0
Jt (I
4
t
c
+
At
c
2

2
)B

C
d
= C
w
d
= _ c
At
c
H
d
wH
d
1
c
A
T
t
t
c
0
Jt

I
d
=
:
t
c



I
4
i the identit( matri5 o) order :. w
d
(k) et I
d
(k) are
the dicrete tate and meaurement noie, t
e
i the
ampling period. Thee noie are conidered a
additive ignal and allo- o"taining the dicrete and
tochatic model o) the .M. .t i given "( equation 2;3.

The noie are uppoed peudo<-hite ignal, =ero<
mean and ?auian, then the covariance matrice w
d

and I
d
are given "($
E|w
d
(k)w
d
(k + 1)
1
] = w
d
o() 2A3
E|:
d
(k):
d
(k + 1)
1
] = I
d
o()
E|w
d
(k):
d
(k)
1
] = u
E| ] i the mathematical e5pectation, o()$ Dirac
ditri"ution.

.... KA,MA/ F.,T0E! 2KF, EKF, AKF3

The Kalman )ilter 2KF3 i an optimal tate o"erver
ued in a tochatic conte5t. .t ena"le the etimation o)
the tate vector )or a linear dicrete<time (tem )rom
input and output ignal. @hen the noie variance are
&no-n, it i a po-er)ul o"erver. Furthermore, i) the
noie can "e conidered a -hite and ?auian, it i
optimal, that i to a(, )or all o"erver, i that )or -hich
the o"ervation error variance i the lo-et 6B, A, C8. KF
i applied to .M )or the etimation o) the rotor )lu5 and
the tator current, under the aumption that the rotor
peed i meaured.

A. Kalman filter Algorithm

A)ter an initiali=ation phae, KF procedure i
recurive. .t algorithm i ummari=ed in )igure 7.

B. Extended Kalman filter Algorithm (EKF)

KF can "e ued to etimate imultaneoul( the tate
vector and ome model parameter, and then -e o"tain
the e5tended Kalman )ilter 2EKF3. The tate model
"ecome nonlinear 2the varia"le to "e etimated appear
in "oth the e5tended tate vector and alo in the matrice
o) the tate model3. The (nthei i "aed on a local
lineari=ed model around a -or&ing point, and then
appl(ing the linear KF etimation algorithm. .n thi
ection, the KF i e5tended to the rotor peed, in order
to overcome the peed enor. The augmented model o)
the (tem i then conidered. The e5tended tate vector
i$
x
c
= (x
1
, x
2
, x
3
, x
4
, )
1
= (i
ds
, i
qs
,
d
,
q
, )
1

The e5tended model i -ritten in the dicrete<time non
linear )orm "elo-$
X
c
(k + 1) = [
A
d
u
u 1
X
c
(k) + [
B
d
u
u(k)
+ H
d
_
w
d
w
d5
] H
d
1


2A3
A = _
A
11
A
12
A
21
A
22
]
2B3
A
11
= _
o
1
u
u o
1
] A
12
= _
o
2
o
3
p
-o
3
p o
2
]
A
21
= _
o
5
u
u o
5
] A
22
= _
-o
4
-p
p -o
4
]





B = [
B
1
u
; B
1
= _
b
1
u
u b
1
] 4 u = [
u u
u u


C = [
1 u u u
u 1 u u

= o
6
(x
2
x
3
- x
1
x
4
) - o
7
I
I
o
8

2:3


D
D D D
3 E 2
3
F
, F 2 G
F
P k k P
s i
r
=
=
T
d d d
T
d d
d d
! A k k P A k k P
k " B k k # A k k #
+ = +
+ + = +
3 E 2 3 E 7 2
3 7 2 3 E 2
F
3 E 7 2
F
7
3 3 E 7 2 2 3 E 7 2 3 7 E 7 2

+ + + = + +
d
T T
$ % k k %P % k k P k k K
33 E 7 2
F
3 E 7 2 32 7 2 3 E 7 2
F
3 7 E 7 2
F
k k & k k & k K k k # k k # + + + + + = + +
3 E 7 2
F
3 E 7 2
F
k k # % k k & + = +
3 E 7 2 33 3 7 2 2 3 7 E 7 2 k k P % k K ' k k P + + = + +

Figure7$ algorithm o) KF

(k) = b(X
c
(k)) + I
d
(k)
2C3
The computation o) Haco"ean matrice o) equation
2A and C3 -ith repect to the tate vector #
e
(k) i
required to lineari=e thi model. And it i then
dicreti=ed to o"tain the e5preion "elo-$
X
c]
(k + 1) = A
]
X
c]
(k) + [
B
d
u
u(k)
+ H
d
_
w
d
w
d5
] H
d
1


2I3

]
(k) = E
]
X
c]
(k) +I
d
(k) 2J3
@ith
A
]
=

X
c
(k)
_[
A
d
u
u 1
X
c
(k)_, E
]
=

X
c
(k)
(k)

The KF algorithm mentioned a"ove i applied to the
e5tended and lineari=ed model given "( equation 2I3.

%. Adapti(e Kalman filter Algorithme (AKF)

A rotor peed adaptation "aed on ,(apunov
ta"ilit( theor( i ued. The adaptive KF alo allo-
etimating current and )lo- -ithout the rotor peed i
meaured a an alternative to EKF to reduce the
computational cot and enjo( the "ene)it o) KF
adaptive )iltering i generall( aociated -ith a real time
operation. .t i )ollo-ed "( a regulation 2*.3 that -ill
improve the per)ormance o) thi etimate 6B, A, C8.
The model 273 i ued to per)orm the (nthei o) the
peed adaptation la-. The diagram o) )igure 293 ho-
the principle o) rotor peed adaptation.
A
F
K
F
r
LF

i
F

i

Figure9 $ .llutration o) the adaptation o) AKF

The tate equation o) the o"erver, -hich i a cop(
o) the (tem model -ith corrective term, i given "(
the equation "elo-$

J
Jt
x = A
`
x (t) + Bu + K(y - y)
27D3
The d(namic o) the etimation error i given "($
c = x
`
(t) - x (t)
= [A
`
x +Bu + K(y - y) - Ax(t) + Bu(t)
= (A + KC)c +AAx


2773
@here
AA = A
`
- A = _
AA
11
AA
12
AA
21
AA
22
]

2793
AA
11
= [
u u
u u


AA
12
= _
u A0o
9
-A0o
9
u
]

o
9
=
I
m
oI
s
I

p

AA
21
= [
u u
u u


AA
22
= [
u -A
A u


@ith$ A0 = 0
`
- 0

To )ind the la- o) peed adaptation and prove the
ta"ilit( o) the etimation error, ,(apunov )unction
candidate i de)ined "($
I = c
1
c +
A)
2
z
, z > u
2793

$ i poitive. The computation o) it derivative give the
equation 7B.




J
Jt
I = c
1
{(A + KC)
1
+ (A + KC)]c
-2
A)
o
9
(c
x1
x
4
- c
x2
x
3
) + 2
A)
z
J
Jt
)

27B3

@e put$
[
1
= c
1
{(A + KC)
1
+(A +KC)]c

27:3
[
2
= -2
Au
o
9
(c
x1
x
4
- c
x2
x
3
) + 2
Au
z
J
Jt
)
27;3

The *
+
term i de)ined negative "( the ta"ilit( o) the
o"erver. The *
,
term determine the adaptation la- o)
the rotor peed, given "($

J
Jt
0
`
= zo
9
(c
x1
x
4
- c
x2
x
3
)
27A3
c
x1
= x
1
- x
1
, c
x2
= x
2
-x
2


-. The P' 1ontroller

A *. controller 2equation 7C3 i ued to improve the
per)ormance o) the adaptation. The goal o) the integral
action i to eliminate the tatic error.


J
Jt
0
`
= K
P
(c
x1
x
4
- c
x2
x
3
)
+K
I
_(c
x1
x
4
- c
x2
x
3
)Jt

27C3
!(nthei "( conventional method can "e per)ormed
to determine the o) controller parameter K
'
and K
P
.
Mo-ever, )urther adjutment "( trial and error ma( "e
necear(. For thi reaon, the( are determined uing a
*!+ algorithm.
.>. *!+ A,?+0.TMM

The trial and error method i a tediou olution )or
the determination o) controller parameter, or
covariance matrice o) noie value. The olution
propoed "( *!+ i an intereting alternative that
allo- a heuritic earch o) the latter. Kno-ledge o) the
covariance matrice o) noie on tate !
d
and
meaurement $
d
ma&e etimation "( KF, EKF and
AKF optimal. For thi reaon, optimi=ation "( *!+
algorithm i ued to calculate !
d
, $
d
, K
P
and K
'
.

The particle -arm optimi=ation 2*!+3 i "aed on
the metaphor o) ocial interaction and communication
2group o) "ird or )ih in earch o) )ood3. A -arm i
ditri"ute randoml( in the earch pace. Then at each
time, a recurive algorithm i reali=ed 6I, J8$

Each particle * 2!
d
, $
d
, K
P
, K
'
3

evaluate it
poition 2it coordinate3 and remem"er hi
"et per)ormance and qualit( 2the value in the
poition o) the cot )unction3
Each particle receive coordinate -ith the "et
qualitie o) a num"er o) it neigh"or.
Each particle chooe the "et per)ormance a
a detination in it poeion.

FigureB$Application o) *!+ to KF<.M

Figure B illutrate the application o) *!+ algorithm to
the -hole .M<AKF.
The *!+ algorithm )or EKF provide the )ollo-ing
reult$
I
d
= (2.9)
3
. [
1 u
u 1
4 w
d
=
`

79.1 u u u u
u 79.1 u u u
u u 49.9 u u
u u u 49.9 u
u u u u 1u

The *!+ algorithm )or AKF provide the )ollo-ing
reult$
I
d
= 1,. 1u
3
[
1 u
u 1
4 w
d
=
1uu u u u
u 1uu u u
u u 1u u
u u u 1u

K
P
= 2uu4 K
I
=

>. !.MU,AT.+/ 0E!U,T!

@e preent imulation reult on the .M<EKF and
.M<AKF. .M parameter ued )or imulation are given
in the appendi5.
@e ho- the graph related to the tate vector 2the
tator current i
ds
. i
/s
. the rotor )lu5 0
dr
. 0
/r
and
mechanical peed K3 and their repective etimate and
the graph o) etimation error. The )igure :, ;, A, C
and I are relative to EKF. The )igure J, 7D, 77, 79
and 7B are relative to AKF and it *. controller.
The optimi=ation "( *!+ o) the *. controller permit a
good )unctioning o) AKF. A load torque i imulated at
tND.:.



2a3 2"3
Fig:. 2a3!uperpoition o) i
ds
and
ds
.2"3 error "et-een
them

2a3 2"3
Fig;. 2a3!uperpoition o) i
/s
and
/s
.2"3 error "et-een
them

2a3 2"3
FigA. 2a3!uperpoition o) 0
dr
and
dr
.2"3 error "et-een
them.

2a3 2"3
FigC. 2a3!uperpoition o) 0
/r
and
qr
, 2"3 error "et-een
them.

2a3 2"3
FigI.2a3!uperpoition o) K and K

,2"3 error "et-een K

and K

.
The reult given "elo- are relative to AKF$

2a3 2"3
FigJ.2a3!uperpoition o) i
ds
et
ds
,2"3 error "et-een them

2a3 2"3
Fig7D.2a3!uperpoition o) i
/s
and
/s
.2"3 error "et-een
them.


2a3 2"3
Fig77. 2a3!uperpoition o) 0
dr
and
dr
.2"3 error "et-een
them.
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8
-30
-20
-10
0
10
20
30
40
time(s)
i
d
s
/

i
d
s

e
s
t
i
m
a
t
e
d

(
A
)
ids
ids estimated
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8
-1
-0.8
-0.6
-0.4
-0.2
0
0.2
0.4
0.6
0.8
1
,e temp 23
,
Oe
r
r
e
u
r

e
n
t
r
e

.

d

e
t

.

d

e

t
i
m

2
A
3


l'erreur
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8
-30
-20
-10
0
10
20
30
40
time (s)
iq
s

/
i
q
s

e
s
t
i
m
a
t
e
d
(
w
b
)
iqs
iqs estimated
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8
-1
-0.8
-0.6
-0.4
-0.2
0
0.2
0.4
0.6
0.8
time (s)
i
q
s
-
i
q
s

e
s
t
i
m
a
t
e
d

(
A
)
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8
-1.5
-1
-0.5
0
0.5
1
1.5
time(s)

d
r

/


d
r

e
s
t
i
m
a
t
e
d

(
w
b
)
dr
dr estimated
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8
-0.1
-0.05
0
0.05
0.1
time (s)

d
r
-

d
r

e
s
t
im
a
t
e
d
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8
-1.5
-1
-0.5
0
0.5
1
1.5
time (s)

q
r

/


q
r

e
s
t
i
m
a
t
e
d

(
w
b
)
qr
qr estimated
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8
-0.15
-0.1
-0.05
0
0.05
0.1
0.15
time (s)

q
r
-

q
r

e
s
t
i
m
a
t
e
d

(
w
b
)
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8
0
20
40
60
80
100
120
140
160
time (s)

/



e
s
t
i
m
a
t
e
d

(
r
d
/
s
)

estimated
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8
-4
-2
0
2
4
6
8
10
time (s)
s
p
e
e
d

e
r
r
o
r

(
r
d
/
s
)
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8
-30
-20
-10
0
10
20
30
40
time (s)
i
d
s

/

i
d
s

e
s
t
i
m
a
t
e
d

(
A
)
ids
ids estimated
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8
-1.5
-1
-0.5
0
0.5
1
time (s)
c
u
r
r
e

t

e
r
r
o
r
(
id
s
-
id
s

e
s
t
i
m
a
t
e
d
)

(
A
)
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8
-30
-20
-10
0
10
20
30
40
time (s)
i
q
s

/
i
q
s

e
s
t
i
m
a
t
e
d

(
A
)
iqs
iqs estimated
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8
-1.5
-1
-0.5
0
0.5
1
time (s)
c
u
r
r
e

t

e
r
r
o
r
(
i
q
s
-
i
q
s

e
s
t
i
m
a
t
e
d
)

(
A
)
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8
-1.5
-1
-0.5
0
0.5
1
1.5
time (s)

d
r
/


d
r

e
s
t
i
m
a
t
e
d

(
w
b
)
dr
dr estimated
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8
-0.1
-0.05
0
0.05
0.1
0.15
0.2
0.25
time (s)

d
r
-

d
r

e
s
t
i
m
a
t
e
d

(
w
b
)



2a3 2"3
Fig79. 2a3!uperpoition o) 0
/r
and
qr
.2"3 error "et-een
them.

2a3 2"3
Fig7B. 2a3!uperpoition o) K and K

, 2"3 error "et-een

them.

>.. 1+/1,U!.+/

.n thi -or& -e have ho-n the per)ormance o) *!+
algorithm to optimi=e the calculation o) the parameter
o) the *. controller required )or optimal )unctioning o)
EKF and AKF. Thi optimi=ation alo allo-ed the
determination o) the covariance matri5 o) the tate noie
and meaured noie. Thu the etimation "( the EKF o)
the tate vector e5tended to peed i made more precie.
The ue o) the optimi=ation method "( *!+ algorithm
ha retained the optimalit( o) EKF and AKF. Pualit( o)
AKF )ound in thi -or& i the a"ilit( it provide to
etimate the tate varia"le a -ell a the rotor peed
-ith good accurac( -hile reducing the computational
cot compared to EKF. Thi later i "aed on model o)
dimenion )ive.
A//EG

R

= 2.1K4 R
s
= 4.27K4 I

= u.4 p = 2,
I
s
= u.4u44 I
m
= u.4 [ = u.u24
{

= u.uu29 4
I
I
= 1u . . ;

The dicrete<time model o) .M e5tended to the rotor
peed i$

X
c
(k + 1) =
`

(1 -t

) u

1
r

u
u (1 - t

) p

u 1 -

u
u

1 -

u
-

X
c
(4)

X
c
() u u 1 -

X
c
(k)

+
`

1
oI
s
u
u
1
oI
s
u u
u u
u u

u(k) +H
d
_
w
d
w
d5
] H
d
1


(k +1) = [
1 u u u u
u 1 u u u
X
c
(k + 1) + I
d



=
L
m
cL
s
L
r

, =
1
cL
s
(R
s
+ R

L
m
2
L
r
2
3, t
c
N7D
<B
.

>... 0EFE0E/1E!

678 H.*.1aron et H.*.Mautier QModliation et commande
de la machine a(nchrone Edition technip.7JJ;.
698

R. RME/? Q1ommande S haute per)ormance et an
capteur mcanique du moteur (nchrone S aimant
permanent ThTe de doctorat, ./* de Touloue,
9DDI.
6B8 M. M.,A.0ET QApplication de outil du traitement
du ignal S la commande de machine tournante
ThTe de doctorat de lOUniverit de /ante.9DD7.
6:8 ,.A. 1A,>.,,+ 1orona QPuelque contri"ution
au5 o"ervateur non linaire S hori=on gliant
ThTe de doctorat ./* de ?reno"le 9DD9.
6;8 M. Ku"ota, K. Matue, T. /a&ano QD!*< #aed
peed adaptive )lu5 o"erver o) induction motor,
.EEE Tranaction .ndutr( Application, >+,. 9J,
/U9, 7JJB.
6A8 0.?una"alan, >.!u""iah and #.0.0edd( Q!enorle
1ontrol o) .nduction Motor -ith E5tended Kalman
Filter onTM!B9DF9I79proceor.A1EE./+>.9DDJ
6C8 *.@ira, H.*.U0#A/ Q*rdiction de trajectoire par
)iltrage de Kalman adaptati) S tat dicret multiple.
!eptem"re 9DD7.
6I8 H.Kenned(, 0. E"erhart, V*article -arm
optimi=ationW. .n$ *roc. o) .EEE .nternational
1on)erence on /eural /et-or&, .EEE *re 27JJ;3,
7J:9<7J:I.
6J8 H. Kenned(, !tereot(ping$ V.mproving particle -arm
per)ormance -ith cluter anal(iW. .n$ *roc. o) the
.EEE 1ongre on Evolutionar( 1omputation. 29DDD3
7;DC<7;79

0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8
-1.5
-1
-0.5
0
0.5
1
1.5
time(s)

q
r

/


q
r

e
s
t
i
m
a
t
e
d

(
w
b
)
qr
qr estimated
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8
-0.25
-0.2
-0.15
-0.1
-0.05
0
0.05
0.1
time (s)

q
r
-

q
r

e
s
t
i
m
a
t
e
d

(
w
b
)
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8
-50
0
50
100
150
200
time(s)

/



e
s
t
i
m
a
t
e
d

(
r
d
/
s
)

estimated
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8
-40
-20
0
20
40
60
time (s)
s
p
e
e
d

e
r
r
o
r

(
r
d
/
s
)