Model parameter on-line identification with nonlinear parametrization – manipulator model

• Autorzy: Cedro Leszek

Identyfikatory

DOI

10.37705/TechTrans/e2022007

• Języki publikacji: EN

Abstrakty

EN

This paper presents an example of solving the parameter identification problem in the case of a robot with two degrees of freedom. In this study, a weighted recursive least squares algorithm was generalised to a case of nonlinear parameterisation in which the identified parameters did not satisfy the linear model. The generalisation involved linearising the model in the neighbourhood of current values of the parameter estimates. It was assumed that the estimates were updated every N steps of signal sampling. This method of identification can be applied whenever the parameters concerning a model need to be determined at the time of measurement. This is particularly useful in adaptive control when the plant parameters vary over time.

Słowa kluczowe

EN

online identification; nonlinear model identification; recursive LS algorithm

PL

identyfikacja online; nieliniowa identyfikacja modelu; rekurencyjny algorytm NK

• Wydawca: Wydawnictwo Politechniki Krakowskiej im. Tadeusza Kościuszki
• Czasopismo: Technical Transactions
• Rocznik: 2022
• Tom: Vol. 119, iss. 1
• Strony: art. no. e2022007
• Opis fizyczny: Bibliogr. 19 poz., wz., rys., wykr.

Twórcy

autor

Cedro Leszek

• Faculty of Mechatronics and Mechanical Engineering, Kielce University of Technology

• https://orcid.org/0000-0002-2419-4044

Bibliografia

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Uwagi

Section "Mechanics"