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 |
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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 |
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Country | Australia |
City | Gippsland |
Period | 17/2/13 → 17/2/15 |
Keywords
- element description
- genetic algorithm
- Motion control
- system identification
ASJC Scopus subject areas
- Electrical and Electronic Engineering
- Mechanical Engineering
- Control and Optimization