Stable robot manipulator parameter identification: a closed-loop input error approach

DOI10.1016/J.AUTOMATICA.2022.110294MaRDI QIDQ2139408zbMATH OpenOpenAlexFDO

Authors Adolfo Perrusquía, Ruben Garrido, Wen Yu

Publication date 17 May 2022

Published in Automatica (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1016/j.automatica.2022.110294

zbMATH Keywords

system identificationgradient methodestimation errorparameter convergenceCLIEcomposite update rulepersistent exciting signal

Mathematics Subject Classification ID

System identification (93B30) Automated systems (robots, etc.) in control theory (93C85)

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Cites work

• scientific article; zbMATH DE number 1573291 (Why is no real title available?)
• scientific article; zbMATH DE number 47864 (Why is no real title available?)
• scientific article; zbMATH DE number 53595 (Why is no real title available?)
• scientific article; zbMATH DE number 1254125 (Why is no real title available?)
• Adaptive Control of Robot Manipulators With Uncertain Kinematics and Dynamics
• Adaptive control of robot manipulators based on passivity
• An output error recursive algorithm for unbiased identification in closed loop
• Composite adaptive control of robot manipulators
• Continuous-time model identification from sampled data: Implementation issues and performance evaluation
• Continuous-time reinforcement learning for robust control under worst-case uncertainty
• Discrete dynamic robot models
• Dynamic Model Identification for Industrial Robots
• Identification of dynamical systems. An introduction with applications.
• Nonlinear systems.
• Robust control under worst-case uncertainty for unknown nonlinear systems using modified reinforcement learning
• Strict Lyapunov functions for control of robot manipulators

Cited in

(6)

• A new approach to parametric identification of a single-link flexible-joint manipulator
• Explainable data-driven Q-learning control for a class of discrete-time linear autonomous systems
• Dynamic identification for robot manipulators based on modified Fourier series
• A continuous terminal sliding mode algorithm for robot manipulators: an application to force control
• A non‐inherent parametric estimation for dynamical equivalence of flexible manipulators
• Maximum likelihood gradient‐based iterative estimation for closed‐loop Hammerstein nonlinear systems

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