Analysis and application of a robust identification method

Author

Janot, A. ; Vandanjon, P.O. ; Gautier, M. ; Khatounian, F.

Author_Institution

CEA/LIST, Fontenay-aux-Roses

fYear

2007

fDate

20-23 June 2007

Firstpage

315

Lastpage

320

Abstract

Parametric identification requires a good know-how and an accurate analysis. The most popular methods consist in using simply the least squares techniques because of their simplicity. However, these techniques are not intrinsically robust. An alternative consists in helping them with an appropriate data treatment while another choice consists in applying a robust identification method. This paper focuses on an analysis of a robust method called "the simple refined instrumental variable method". This method will be applied to a single degree of freedom master arm developed by the CEA Interactive Robotic Unit.

Keywords

control system analysis; control system synthesis; identification; least squares approximations; manipulators; robust control; CEA Interactive Robotic Unit; control system analysis; data treatment; instrumental variable method; least squares technique; robot master arm development; robust parametric identification method; Acceleration; Colored noise; Instruments; Inverse problems; Least squares methods; Mathematical model; Noise robustness; Robotics and automation; Service robots; Vectors;

fLanguage

English

Publisher

ieee

Conference_Titel

Computational Intelligence in Robotics and Automation, 2007. CIRA 2007. International Symposium on

Conference_Location

Jacksonville, FI

Print_ISBN

1-4244-0790-7

Electronic_ISBN

1-4244-0790-7

Type

conf

DOI

10.1109/CIRA.2007.382852

Filename

4269852