| Autor: |
Radosław Patelski, Dariusz Pazderski |
| Jazyk: |
angličtina |
| Rok vydání: |
2022 |
| Předmět: |
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| Zdroj: |
Energies, Vol 15, Iss 10, p 3602 (2022) |
| Druh dokumentu: |
article |
| ISSN: |
1996-1073 |
| DOI: |
10.3390/en15103602 |
| Popis: |
In this paper, a novel method of parameter identification of linear in parameter dynamic systems is presented. The proposed scheme employs an Extended State Observer to online estimate a state of the plant and momentary value of total disturbance present in the system. A notion is made that for properly redefined dynamics of the system, this estimate can be interpreted as a measure of modeling error caused by the parameter uncertainty. Under this notion, a disturbance estimate is used as a basis for classic gradient identification. A global convergence of both state and parameter estimates to their true values is proved using the Lyapunov approach under an assumption of a persistent excitation. Finally, results of simulation and experiments are presented to support the theoretical analysis. The experiments were conducted using a compliant manipulator joint and obtained results show the usefulness of the proposed method in drive control systems and robotics. |
| Databáze: |
Directory of Open Access Journals |
| Externí odkaz: |
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