On Algebraic Approach for MSD Parametric Estimation
Communication avec acte
Date
2011Abstract
This article address the identification problem of the natural frequency and the damping ratio of a second order continuous system where the input is a sinusoidal signal. An algebra based approach for identifying parameters of a Mass Spring Damper (MSD) system is proposed and compared to the Kalman-Bucy filter. The proposed estimator uses the algebraic parametric method in the frequency domain yielding exact formula, when placed in the time domain to identify the unknown parameters. We focus on finding the optimal sinusoidal exciting trajectory which allow to minimize the variance of the identification algorithms. We show that the variance of the estimators issued from the algebraic identification method introduced by Fliess and Sira-Ramirez is less sensitive to the input frequency than the ones obtained by the classical recursive Kalman-Bucy filter. Unlike conventional estimation approach, where the knowledge of the statistical properties of the noise is required, algebraic method is deterministic and non-asymptotic. We show that we don't need to know the variance of the noise so as to perform these algebraic estimators. Moreover, as they are non-asymptotic, we give numerical results where we show that they can be used directly for online estimations without any special setting.
Files in this item
Related items
Showing items related by title, author, creator and subject.
-
Communication avec acteIn this paper, an improvement of the dynamic accuracy of a flexible robot joint is addressed. Based on the observation of the measured axis deformation, a simplified elastic joint model is deduced. In the first step, the ...
-
Communication avec acteThe use of industrial robots in many fields of industry like prototyping, pre-machining and end milling is limited because of their poor accuracy. Robot joints are mainly responsible for this poor accuracy. The flexibility ...
-
Communication avec acteAtomic Force Microscopy (AFM) probe-based machining allows surface structuring at the nano-scale via the mechanical modification of material. This results from the direct contact between the tip of an AFM probe and the ...
-
Communication avec acteBROUSSEAU, Emmanuel; ARNAL, Benoît; THIERY, Stéphane; MAYOR, J.Rhett; NYIRI, Eric; GIBARU, Olivier (University of Wisconsin-Madison, 2013)This paper presents a feasibility study, which aims to demonstrate the applicability of the CNC automation philosophy for the process of AFM probe-based nano machining conducted on commercial AFM instruments. In particular, ...
-
Communication avec acteTHIERY, Stephane; ROUCOULES, Lionel; KLEMENT, Nathalie; QUENEHEN, Anthony; GIBARU, Olivier (Springer International Publishing, 2020)This paper aims at studying the combination of different collaboration modes between operator and collaborative robot in order to optimize an assembly process for both economic and ergonomic objectives. Based on a real ...