Identification and control of electro-mechanical systems using state-dependent parameter estimation
@article{Janot2017IdentificationAC, title={Identification and control of electro-mechanical systems using state-dependent parameter estimation}, author={Alexandre Janot and Peter C. Young and Maxime Gautier}, journal={International Journal of Control}, year={2017}, volume={90}, pages={643 - 660} }
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…Â
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