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

Janot, Alexandre; Young, Peter C.; Gautier, Maxime


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...[Show more]

CollectionsANU Research Publications
Date published: 2016
Type: Journal article
Source: International Journal of Control
DOI: 10.1080/00207179.2016.1209565


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