Continuous-Time Gray-Box Identification of Mechanical Systems Using Subspace-Based Identification Methods
Olofsson, Björn LU ; Sörnmo, Olof LU ; Robertsson, Anders LU and Johansson, Rolf LU
(2014)
2014 IEEE/ASME International Conference on Advanced Intelligent Mechatronics
p.327-333
- 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... (More)
- 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. (Less)
Please use this url to cite or link to this publication:
https://lup.lub.lu.se/record/4426210
- author
- Olofsson, Björn
LU
; Sörnmo, Olof
LU
; Robertsson, Anders
LU
and Johansson, Rolf
LU
- organization
- publishing date
- 2014
- type
- Chapter in Book/Report/Conference proceeding
- publication status
- published
- subject
- host publication
- Proc. 2014 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM2014), July 8-11, 2014, Besançon, France,
- pages
- 327 - 333
- publisher
- IEEE - Institute of Electrical and Electronics Engineers Inc.
- conference name
- 2014 IEEE/ASME International Conference on Advanced Intelligent Mechatronics
- conference location
- Besançon, France
- conference dates
- 2014-07-08
- external identifiers
-
- wos:000346499600056
- scopus:84906665007
- ISSN
- 2159-6255
- project
- RobotLab LTH
- SMErobotics
- language
- English
- LU publication?
- yes
- id
- bc8431dc-d0ed-41a9-a381-eb70cd626217 (old id 4426210)
- date added to LUP
- 2016-04-01 14:04:35
- date last changed
- 2024-01-09 22:41:23
@inproceedings{bc8431dc-d0ed-41a9-a381-eb70cd626217,
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.}},
author = {{Olofsson, Björn and Sörnmo, Olof and Robertsson, Anders and Johansson, Rolf}},
booktitle = {{Proc. 2014 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM2014), July 8-11, 2014, Besançon, France,}},
issn = {{2159-6255}},
language = {{eng}},
pages = {{327--333}},
publisher = {{IEEE - Institute of Electrical and Electronics Engineers Inc.}},
title = {{Continuous-Time Gray-Box Identification of Mechanical Systems Using Subspace-Based Identification Methods}},
url = {{https://lup.lub.lu.se/search/files/3763554/4538649.pdf}},
year = {{2014}},
}