ICRA 2011 Paper Abstract


Paper ThP112.3

Miranda, Roger (Universidad PolitÚcnica de Victoria), Garrido, RubÚn (CINVESTAV), OrtÝz, Manuel Benjamin (Universidad Politecnica de Victoria)

On the Controller Effect in Closed-Loop Identification for DC Servomechanisms under PD Control

Scheduled for presentation during the Regular Sessions "Learning and Adaptive Systems III" (ThP112), Thursday, May 12, 2011, 14:10−14:25, Room 5H

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on August 18, 2019

Keywords Learning and Adaptive Systems, Calibration and Identification, Robust/Adaptive Control of Robotic Systems


This paper adresses the effect that a controller has on the parameter estimates for a closed-loop identification methodology with a DC servomechanism. Closed-loop identification is performed with a direct method, where a PD controller, which stabilizes the system without knowledge about its parameters, closes the loop. It is shown that when the perturbation signal is absent, exponential convergence can be claimed, making the identification algorithm robust. However, when there exists a perturbation signal it can be established a region where the parameter estimates belong to, and it is shown how this region is affected by the PD controller gains.



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