Position Control Using Acceleration-Based Identification and Feedback With Unknown Measurement Bias
2007 ◽
Vol 130
(1)
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Keyword(s):
A position-command-following problem for asymptotically stable linear systems is considered. To account for modeling limitations, we assume that a model is not available. Instead, acceleration data are used to construct a compliance (position-output) model, which is subsequently used to design a position servo loop. Furthermore, we assume that the acceleration measurements obtained from inertial sensors are biased. A subspace identification algorithm is used to identify the inertance (acceleration-output) model, and the biased acceleration measurements are used by the position-command-following controller, which is constructed using linear quadratic Gaussian (LQG) techniques.
2017 ◽
Vol 10
(1)
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pp. 49
2020 ◽
Keyword(s):
2020 ◽
Keyword(s):
2020 ◽
Keyword(s):
1983 ◽
Vol 14
(8)
◽
pp. 953-978
Keyword(s):
2003 ◽
Vol 22
(2)
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pp. 97-108
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