Title :
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
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;
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
DOI :
10.1109/CIRA.2007.382852
