Continuous-Time Gray-Box Identification of Mechanical Systems Using Subspace-Based Identification Methods

Summary, in English

We consider the problem of gray-box identification of dynamic models for mechanical systems. In particular, the problem is approached by means of continuous-time system identification using subspace-based methods based on discrete-time input-output identification data. A method is developed, with the property that the structure of the model resulting from fundamental physical first principles is obtained and the parameter matrices have a clear physical interpretation. The proposed method is subsequently successfully validated in both simulation and using experimental data from a micro manipulator. In both cases the identified models exhibit good fit to the input-output data. The results indicate that the proposed method can be useful in the context of model-based control design in, for example, impedance force control for robots and manipulators, but also for modal analysis of mechanical systems.

• Författare: Björn Olofsson; Olof Sörnmo; Anders Robertsson; Rolf Johansson
• Avdelning/ar: Institutionen för reglerteknik; ELLIIT: the Linköping-Lund initiative on IT and mobile communication
• Publiceringsår: 2014
• Språk: Engelska
• Sidor: 327-333
• Publikation/Tidskrift/Serie: Proc. 2014 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM2014), July 8-11, 2014, Besançon, France,
• Fulltext: - 1 MB; Download statistics
• Dokumenttyp: Konferensbidrag
• Förlag: IEEE - Institute of Electrical and Electronics Engineers Inc.
• Ämne: Control Engineering
• Conference name: 2014 IEEE/ASME International Conference on Advanced Intelligent Mechatronics
• Conference date: 2014-07-08
• Conference place: Besançon, France
• Status: Published
• Projekt: LU Robotics Laboratory; SMErobotics
• Forskningsgrupp: LCCC
• ISBN/ISSN/Övrigt: ISSN: 2159-6255