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Neural Networks, IEEE - INNS - ENNS International Joint Conference on (2009)
Atlanta, Ga, USA
June 14, 2009 to June 19, 2009
ISBN: 978-1-4244-3548-7
pp: 2001-2005
Allan M. Marins , Federal University of Rio Grande do Norte, Department of Electrical Engineering, Campus Universitário - Lagoa Nova, 59072-970 - Natal / RN / Brazil
Samaherni M. Dias , Federal University of Rio Grande do Norte, Department of Electrical Engineering, Campus Universitário - Lagoa Nova, 59072-970 - Natal / RN / Brazil
Aldayr D. Araujo , Federal University of Rio Grande do Norte, Department of Electrical Engineering, Campus Universitário - Lagoa Nova, 59072-970 - Natal / RN / Brazil
Adriao D. D. Neto , Federal University of Rio Grande do Norte, Department of Electrical Engineering, Campus Universitário - Lagoa Nova, 59072-970 - Natal / RN / Brazil
ABSTRACT
In this paper we present an application of weighted least squares WLS for identification of the dynamics of soccer robot (MIROSOT category). We used a linear model represented by state space equations to represent the dynamics of the robot and used an off-line WLS algorithm to find the coefficients of the linear model. Our main contribution is to use a kernel based (gram matrix) weight matrix to avoid the effect of the outliers in the noise acquired during the data acquisition phase for the training. The results show that this approach is better them using non-weighted algorithms.
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CITATION

A. M. Marins, A. D. Araujo, S. M. Dias and A. D. Neto, "Soccer robot identification using Kernel based weighted least squares," Neural Networks, IEEE - INNS - ENNS International Joint Conference on(IJCNN), Atlanta, Ga, USA, 2009, pp. 2001-2005.
doi:10.1109/IJCNN.2009.5178853
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