On parameter identification of the Furuta pendulum

被引：17

作者：

Garcia-Alarcon, Octavio ^{[1
]}

Puga-Guzman, Sergio ^{[1
]}

Moreno-Valenzuela, Javier ^{[1
]}

机构：

[1] Inst Politecn Nacl, CITEDI, Tijuana 22510, BC, Mexico

来源：

INTERNATIONAL MEETING OF ELECTRICAL ENGINEERING RESEARCH 2012 | 2012年 / 35卷

关键词：

Filtered dynamic model; Furuta pendulum; Least-squares; Parameter identification; Real-time experiment; ROBOT;

D O I：

10.1016/j.proeng.2012.04.167

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

The Furuta pendulum is a well-known underactuated mechanical system used by many control researchers to test new control techniques. In this paper, the parameter identification of a Furuta pendulum prototype designed at IPN-CITEDI is presented. The procedure used to achieve the parameter identification of the experimental system consisted in using the filtered dynamic model and the standard least-squares algorithm. Comparisons between numerical simulation and experiment show a manner of validating the accuracy of the obtained parameter estimation. (C) 2012 Published by Elsevier Ltd. Selection and/or peer-review under responsibility of the Organizing Committee of the ENIINVIE-2012.

引用

页码：77 / 84

页数：8

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