An input error method for parameter identification of a class of Euler-Lagrange systems

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dc.contributor.authorPerrusquía, Adolfo
dc.contributor.authorGarrido, Ruben
dc.contributor.authorYu, Wen
dc.date.accessioned2022-01-20T15:16:15Z
dc.date.available2022-01-20T15:16:15Z
dc.date.issued2021-12-14
dc.description.abstractIn this paper, an input error identification algorithm for a class of Euler-Lagrange systems is proposed. The algorithm has a state-observer structure which uses the input error between the real system and an estimated model instead of the output error. Both systems are controlled by two Proportional-Derivative (PD) controllers with the same gain values. An excitation signal is added to the PD controllers to guarantee parameter estimates convergence. Stability of the complete identification method and parameter estimates convergence are assessed via Lyapunov stability theory. Simulation studies are carried out to verify the approach.en_UK
dc.identifier.citationPerrusquía A, Garrido R, Yu W. (2021) An input error method for parameter identification of a class of Euler-Lagrange systems. In: 18th International Conference on Electrical Engineering, Computing Science and Automatic Control (CCE), 10 November - 12 October 2021, Mexico City, Mexicoen_UK
dc.identifier.eisbn978-1-6654-0029-9
dc.identifier.issn2642-3766
dc.identifier.urihttps://doi.org/10.1109/CCE53527.2021.9633110
dc.identifier.urihttps://dspace.lib.cranfield.ac.uk/handle/1826/17457
dc.language.isoenen_UK
dc.publisherIEEEen_UK
dc.rightsAttribution-NonCommercial 4.0 International*
dc.rights.urihttp://creativecommons.org/licenses/by-nc/4.0/*
dc.subjectParameter estimationen_UK
dc.subjectNumerical simulationen_UK
dc.subjectStability analysisen_UK
dc.subjectFiltering theoryen_UK
dc.subjectNumerical modelsen_UK
dc.subjectPD controlen_UK
dc.subjectNoise measurementen_UK
dc.titleAn input error method for parameter identification of a class of Euler-Lagrange systemsen_UK
dc.typeArticleen_UK
dcterms.dateAccepted2021-08-28

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