Abstract
This paper proposes an identification method of unknown environment for motion control. The proposed method can estimate a physical model and its parameter simultaneously by using element description method. In this paper, the proposed method is applied to identification of environmental characteristics. General identification methods need to decide a physical model of target in advance. In another approaches such as neural network and black-box modeling methods by database, notwithstanding achieving input-output characteristics, these methods are difficult to understand the physical meaning of target environment. On the contrary, the proposed method can identify not only parameter but also a physical model of environment, which is the merit of the proposed method. Also the physical meaning of target environment is understandable according to element description. By using the proposed method, ideal controller for contact task can be designed based on environmental model and its parameter. It may be possible to discover a new physical property of environment.
| Original language | English |
|---|---|
| Title of host publication | Proceedings - 2017 IEEE International Conference on Mechatronics, ICM 2017 |
| Publisher | Institute of Electrical and Electronics Engineers Inc. |
| Pages | 330-335 |
| Number of pages | 6 |
| ISBN (Electronic) | 9781509045389 |
| DOIs | |
| Publication status | Published - 2017 May 6 |
| Event | 2017 IEEE International Conference on Mechatronics, ICM 2017 - Gippsland, Australia Duration: 2017 Feb 13 → 2017 Feb 15 |
Other
| Other | 2017 IEEE International Conference on Mechatronics, ICM 2017 |
|---|---|
| Country | Australia |
| City | Gippsland |
| Period | 17/2/13 → 17/2/15 |
Fingerprint
Keywords
- element description
- genetic algorithm
- Motion control
- system identification
ASJC Scopus subject areas
- Electrical and Electronic Engineering
- Mechanical Engineering
- Control and Optimization
Cite this
Model generation and parameter identification of unknown environment using element description method. / Takeuchi, Issei; Katsura, Seiichiro.
Proceedings - 2017 IEEE International Conference on Mechatronics, ICM 2017. Institute of Electrical and Electronics Engineers Inc., 2017. p. 330-335 7921126.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - Model generation and parameter identification of unknown environment using element description method
AU - Takeuchi, Issei
AU - Katsura, Seiichiro
PY - 2017/5/6
Y1 - 2017/5/6
N2 - This paper proposes an identification method of unknown environment for motion control. The proposed method can estimate a physical model and its parameter simultaneously by using element description method. In this paper, the proposed method is applied to identification of environmental characteristics. General identification methods need to decide a physical model of target in advance. In another approaches such as neural network and black-box modeling methods by database, notwithstanding achieving input-output characteristics, these methods are difficult to understand the physical meaning of target environment. On the contrary, the proposed method can identify not only parameter but also a physical model of environment, which is the merit of the proposed method. Also the physical meaning of target environment is understandable according to element description. By using the proposed method, ideal controller for contact task can be designed based on environmental model and its parameter. It may be possible to discover a new physical property of environment.
AB - This paper proposes an identification method of unknown environment for motion control. The proposed method can estimate a physical model and its parameter simultaneously by using element description method. In this paper, the proposed method is applied to identification of environmental characteristics. General identification methods need to decide a physical model of target in advance. In another approaches such as neural network and black-box modeling methods by database, notwithstanding achieving input-output characteristics, these methods are difficult to understand the physical meaning of target environment. On the contrary, the proposed method can identify not only parameter but also a physical model of environment, which is the merit of the proposed method. Also the physical meaning of target environment is understandable according to element description. By using the proposed method, ideal controller for contact task can be designed based on environmental model and its parameter. It may be possible to discover a new physical property of environment.
KW - element description
KW - genetic algorithm
KW - Motion control
KW - system identification
UR - http://www.scopus.com/inward/record.url?scp=85020000078&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85020000078&partnerID=8YFLogxK
U2 - 10.1109/ICMECH.2017.7921126
DO - 10.1109/ICMECH.2017.7921126
M3 - Conference contribution
AN - SCOPUS:85020000078
SP - 330
EP - 335
BT - Proceedings - 2017 IEEE International Conference on Mechatronics, ICM 2017
PB - Institute of Electrical and Electronics Engineers Inc.
ER -