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Identification and control of electro-mechanical systems using state-dependent parameter estimation.
- Source :
-
International Journal of Control . Apr2017, Vol. 90 Issue 4, p643-660. 18p. - Publication Year :
- 2017
-
Abstract
- This paper addresses the important topic of electro-mechanical systems identification with an application in robotics. The standard inverse dynamic identification model with least squares (IDIM-LS) method of identifying models for robotic systems is based on the use of a continuous-time inverse dynamic model whose parameters are identified from experimental data by linear LS estimation. The paper describes a new alternative but related approach that exploits the state-dependent parameter (SDP) method of nonlinear model estimation and compares its performance with that of IDIM-LS. The SDP method is a two-stage identification procedure able to identify the presence and graphical shape of nonlinearities in dynamic system models with a minimum of a priori assumptions. The performance of the SDP method is evaluated on two electro-mechanical systems: the electro-mechanical positioning system and the second link of the TX40 robot. The experimental results demonstrate how SDP identification helps to avoid over-reliance on prior conceptions about the nature of the nonlinear characteristics and correct any deficiencies in this regard. Finally, a simulation study shows how the resulting SDP model is able to facilitate nonlinear control system design using linear-like design procedures. [ABSTRACT FROM AUTHOR]
Details
- Language :
- English
- ISSN :
- 00207179
- Volume :
- 90
- Issue :
- 4
- Database :
- Academic Search Index
- Journal :
- International Journal of Control
- Publication Type :
- Academic Journal
- Accession number :
- 121393039
- Full Text :
- https://doi.org/10.1080/00207179.2016.1209565