| Titre : | Position control using acceleration-based identification and feedback with unknown measurement bias (2008) |
| Auteurs : | Jaganath Chandrasekar, Auteur ; Dennis S. Bernstein, Auteur |
| Type de document : | Article : texte imprimé |
| Dans : | Transactions of the ASME . Journal of dynamic systems, measurement, and control (Vol. 130 N°1, Janvier/Fevrier 2008) |
| Article en page(s) : | 9 p. |
| Note générale : | dynamic systems |
| Langues : | Anglais |
| Tags : | asymptotically stable linear systems ; position-command problem ; quadratic Gaussian techniques |
| Résumé : | A position-command-following problem for asymptotically stable linear systems is considered. To account for modeling limitations, we assume that a model is not available. Instead, acceleration data are used to construct a compliance (position-output) model, which is subsequently used to design a position servo loop. Furthermore, we assume that the acceleration measurements obtained from inertial sensors are biased. A subspace identification algorithm is used to identify the inertance (acceleration-output) model, and the biased acceleration measurements are used by the position-command-following controller, which is constructed using linear quadratic Gaussian (LQG) techniques. |
| En ligne : | http://dynamicsystems.asmedigitalcollection.asme.org/issue.aspx?journalid=117&issueid=26426 |
