A new RCAR(1) model based on explanatory variables and observations

The random coefficient autoregressive (RCAR) processes are very useful to model time series in applications. It is commonly observed that the random autoregressive coefficient is assumed to be an independent identically distributed (i.i.d.) random variable sequence. To make the RCAR model more practical, this paper considers a new RCAR(1) model driven by explanatory variable and observations. We use the conditional least squares, the quantile regression and the conditional maximum likelihood methods to estimate the model parameters. The consistency and asymptotic normality of the proposed estimates are established. Simulation studies are conducted for the evaluation of the developed approaches and two applications to real-data examples are provided. The results show that the proposed procedures perform well for the simulations and application.