Identification and control of electro-mechanical systems using state-dependent parameter estimation

Janot, Alexandre and Young, Peter C. and Gautier, Maxime (2017) Identification and control of electro-mechanical systems using state-dependent parameter estimation. International Journal of Control, 90 (4). pp. 643-660. ISSN 0020-7179

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This paper addresses the important topic of electromechanical systems identification with an application in robotics. The standard 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 Least Squares 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 electromechanical systems: the Electro-Mechanical Positioning System (EMPS) 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.

Item Type:
Journal Article
Journal or Publication Title:
International Journal of Control
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This is an Accepted Manuscript of an article published by Taylor & Francis in International Journal of Control on 11/07/2016, available online:
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Deposited On:
27 Sep 2016 08:58
Last Modified:
19 Sep 2023 01:36