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Position control using acceleration-based identification and feedback with unknown measurement bias / Jaganath Chandrasekar in Transactions of the ASME . Journal of dynamic systems, measurement, and control, Vol. 130 N°1 (Janvier/Fevrier 2008) 

Public ISBD [article]  in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 130 N°1 (Janvier/Fevrier 2008) . - 9 p. Titre : Position control using acceleration-based identification and feedback with unknown measurement bias Type de document : texte imprimé Auteurs : Jaganath Chandrasekar, Auteur ; Dennis S. Bernstein, Auteur Année de publication : 2008 Article en page(s) : 9 p. Note générale : dynamic systems Langues : Anglais (eng) Mots-clés : asymptotically  stable  linear  systems;  position-command  problem;  linear  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&is [...] [article] Position control using acceleration-based identification and feedback with unknown measurement bias [texte imprimé] / Jaganath Chandrasekar, Auteur ; Dennis S. Bernstein, Auteur . - 2008 . - 9 p. dynamic systems Langues : Anglais (eng) in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 130 N°1 (Janvier/Fevrier 2008) . - 9 p. Mots-clés : asymptotically  stable  linear  systems;  position-command  problem;  linear  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&is [...]