Topic
System identification
About: System identification is a research topic. Over the lifetime, 21291 publications have been published within this topic receiving 439142 citations.
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TL;DR: In this paper, a second-order statistical method employed in blind source separation (BSS) is adapted for use in modal parameter identification, and a class of new non-parametric output-only modal identification algorithms is proposed and examples of its use are provided.
139 citations
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TL;DR: By fast sampling at the output, it is shown that identification of the linear part can be achieved based only on the output measurements that makes the Hammerstein model identification possible without knowing the structure of the nonlinearity and the internal variables.
Abstract: This paper discusses the Hammerstein model identification using a blind approach. By fast sampling at the output, it is shown that identification of the linear part can be achieved based only on the output measurements that makes the Hammerstein model identification possible without knowing the structure of the nonlinearity and the internal variables.
139 citations
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TL;DR: A new robust output feedback control approach for flexible-joint electrically driven (FJED) robots via the observer dynamic surface design technique and it is shown that all signals in a closed-loop adaptive system are uniformly ultimately bounded.
Abstract: In this paper, we propose a new robust output feedback control approach for flexible-joint electrically driven (FJED) robots via the observer dynamic surface design technique. The proposed method only requires position measurements of the FJED robots. To estimate the link and actuator velocity information of the FJED robots with model uncertainties, we develop an adaptive observer using self-recurrent wavelet neural networks (SRWNNs). The SRWNNs are used to approximate model uncertainties in both robot (link) dynamics and actuator dynamics, and all their weights are trained online. Based on the designed observer, the link position tracking controller using the estimated states is induced from the dynamic surface design procedure. Therefore, the proposed controller can be designed more simply than the observer backstepping controller. From the Lyapunov stability analysis, it is shown that all signals in a closed-loop adaptive system are uniformly ultimately bounded. Finally, the simulation results on a three-link FJED robot are presented to validate the good position tracking performance and robustness of the proposed control system against payload uncertainties and external disturbances.
139 citations
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TL;DR: In this paper, the convergence of an iterative algorithm with normalization was shown to have global convergence properties in identification of Hammerstein systems with smooth nonlinearity and finite impulse response (FIR) linear part.
138 citations
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TL;DR: A novel frequency-domain framework for the identification of a multiple-input multiple-output (MIMO) system driven by white, mutually independent, unobservable inputs and the freedom to select the polyspectra slices allows us to bypass the frequency-dependent permutation ambiguity.
Abstract: We present a novel frequency-domain framework for the identification of a multiple-input multiple-output (MIMO) system driven by white, mutually independent, unobservable inputs. The system frequency response is obtained based on singular value decomposition (SVD) of a matrix constructed based on the power-spectrum and slices of polyspectra of the system output. By appropriately selecting the polyspectra slices, we can create a set of such matrices, each of which could independently yield the solution, of they could all be combined in a joint diagonalization scheme to yield a solution with improved statistical performance. The freedom to select the polyspectra slices allows us to bypass the frequency-dependent permutation ambiguity that is usually associated with frequency domain SVD, while at the same time allows us compute and cancel the phase ambiguity. An asymptotic consistency analysis of the system magnitude response estimate is performed.
138 citations