On parameter identification of the Furuta pendulum

被引：16
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
收藏
页码：77 / 84
页数：8
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