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

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Abstract

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.
Original languageEnglish
Title of host publicationProc. 2014 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM2014), July 8-11, 2014, Besançon, France,
PublisherIEEE - Institute of Electrical and Electronics Engineers Inc.
Pages327-333
Publication statusPublished - 2014
Event2014 IEEE/ASME International Conference on Advanced Intelligent Mechatronics - Besançon, France
Duration: 2014 Jul 8 → …

Publication series

Name
ISSN (Print)2159-6255

Conference

Conference2014 IEEE/ASME International Conference on Advanced Intelligent Mechatronics
Country/TerritoryFrance
CityBesançon
Period2014/07/08 → …

Subject classification (UKÄ)

  • Control Engineering

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