Algebraic Identification and Discontinuous Control for Trajectory Tracking in a Perturbed 1-DOF Suspension System

García‐Rodríguez, Carlos; Cortés‐Romero, John; Sira‐Ramírez, Hebertt

doi:10.1109/tie.2009.2026383

Cited by 33 publications

(11 citation statements)

References 19 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…When this happens, a local loss of identifiability may occur. In [21], this drawback was solved by using invariant nonlinear filtering.…”

Section: Second Stage: Parameter Calculationmentioning

confidence: 99%

“…There are some other alternatives to the procedure presented above. In [21] the convergence time was computed in terms of an artificial parameter called the sentinel parameter. This parameter emulates, in terms of time of convergence, the behaviour of the remaining system parameters, but, unlike the others, its value converges to an arbitrary value explicitly defined beforehand.…”

Section: Third Stage: Resetting and Switching-off Considerationsmentioning

confidence: 99%

See 1 more Smart Citation

Payload Mass Identification of a Single-Link Flexible Arm Moving under Gravity: An Algebraic Identification Approach

Cambera

San-Millan

Feliu-Batlle

2015

Shock and Vibration

View full text Add to dashboard Cite

We deal with the online identification of the payload mass carried by a single-link flexible arm that moves on a vertical plane and therefore is affected by the gravity force. Specifically, we follow a frequency domain design methodology to develop an algebraic identifier. This identifier is capable of achieving robust and efficient mass estimates even in the presence of sensor noise. In order to highlight its performance, the proposed estimator is experimentally tested and compared with other classical methods in several situations that resemble the most typical operation of a manipulator.

show abstract

“…When this happens, a local loss of identifiability may occur. In [21], this drawback was solved by using invariant nonlinear filtering.…”

Section: Second Stage: Parameter Calculationmentioning

confidence: 99%

Section: Third Stage: Resetting and Switching-off Considerationsmentioning

confidence: 99%

Payload Mass Identification of a Single-Link Flexible Arm Moving under Gravity: An Algebraic Identification Approach

Cambera

San-Millan

Feliu-Batlle

2015

Shock and Vibration

View full text Add to dashboard Cite

show abstract

“…In [19], an online algebraic identification methodology for parameter and signal estimation in vibrating mechanical system is experimentally verified. The output control and simultaneous online algebraic parameter identification of perturbed 1-DOF suspension system is considered in [20]. In [21], an identification method for parameters estimation of a position-controlled servomechanism is proposed.…”

Section: Introductionmentioning

confidence: 99%

“…Since the estimator variables are unbounded, additional switch off mechanism is necessary after a short period of time. Another disconnection strategy is based on introducing an extra auxiliary parameter, called the "sentinel" parameter that monitors the convergence of the rest of the estimated system parameters [20].…”

Section: Introductionmentioning

confidence: 99%

Frequency-shifting-based stable on-line algebraic parameter identification of linear systems

Kasač

Žilić

Milić

et al. 2018

Journal of the Franklin Institute

View full text Add to dashboard Cite

In this paper a new approach to algebraic parameter identification of the linear SISO systems is proposed. The standard approach to the algebraic parameter identification is based on the algebraic derivatives in Laplace domain as the main tool for algebraic manipulations like elimination of the initial conditions and generation of linearly independent equations. This approach leads to the unstable time-varying state-space realization of the filters for the on-line parameter estimation. In this paper, the finite difference and shift operators in combination with the frequency-shifting property of Laplace transform is applied instead of algebraic derivatives. Resulting state-space realization of the estimator filters is asymptotically stable and doesn't require switch-of mechanism to prevent overflow of the estimator variables. The proposed method is especially suitable for applications in closed-loop on-line identification where the stable behavior of the estimators is a necessary requirement. The efficiency of the proposed algorithm is illustrated on three simulation examples.

show abstract

“…An interesting estimation technique of variable load torque for a DC motor with separately excited field winding, with two independent control voltage inputs, by using mechanical power estimations and assuming known parameters, is also presented in Sira‐Ramírez et al Similarly, estimation of stepwise changing constant load torque for an armature‐controlled permanent‐magnet DC motor has been well addressed in Linares‐Flores et al, where it has been considered that system parameters are known as well. In García‐Rodríguez et al, algebraic parametric identification has been also applied to identify the parameters of a mechanical suspension represented as a linear mass‐spring‐damper vibrating system of one degree of freedom subjected to a constant perturbation force, where computer simulation results show a satisfactory performance. In the context of vibration control, algebraic schemes have been proposed for online estimation of parameters and excitation forces of vibrating mechanical systems with multiple degrees of freedom by Beltran‐Carbajal et al (see, eg, other works() and references therein).…”

Section: Introductionmentioning

confidence: 99%

An online algebraic estimation approach of parameters and variable mechanical torque in shunt DC motors

Beltrán-Carbajal

Tapia‐Olvera²,

Aguilar-Mejía³

et al. 2017

Int Trans Electr Energ Syst

View full text Add to dashboard Cite

SummaryClassical control design methods have been successfully applied to several practical engineering systems for regulation tasks around a desired equilibrium operation state. Nevertheless, real-time information of some system parameters and mechanical torque could be required to guarantee an efficient and robust control performance for variable operation conditions. In this paper, an online and algebraic scheme is proposed for simultaneous estimation of parameters and variable mechanical load torque for nonlinear shunt DC motors. An adaptive PI velocity tracking control scheme is also described to verify the effectiveness and efficiency of the parametric estimation approach. Control dynamic gains are computed online by applying a B-spline neural network algorithm. Computational simulation results confirm the fast estimation of parameters and variable mechanical torque.

show abstract

Algebraic Identification and Discontinuous Control for Trajectory Tracking in a Perturbed 1-DOF Suspension System

Cited by 33 publications

References 19 publications

Payload Mass Identification of a Single-Link Flexible Arm Moving under Gravity: An Algebraic Identification Approach

Payload Mass Identification of a Single-Link Flexible Arm Moving under Gravity: An Algebraic Identification Approach

Frequency-shifting-based stable on-line algebraic parameter identification of linear systems

An online algebraic estimation approach of parameters and variable mechanical torque in shunt DC motors

Contact Info

Product

Resources

About