Identification and control of electro-mechanical systems using state-dependent parameter estimation. Issue 4 (3rd April 2017)

• Record Type: Journal Article
• Authors: Janot, Alexandre; Young, Peter C.; Gautier, Maxime
• Is Part Of: International journal of control. Volume 90:Issue 4(2017)
• Page Start: 643
• Page End: 660
• Publication Date: 2017-04-03
• Subjects: Robotics -- state-dependent parameters -- identification; Automatic control -- Periodicals; Electronic journals; 629.8
• DOI: 10.1080/00207179.2016.1209565
• Languages: English
• ISSNs: 0020-7179

Abstract

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.