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Enqvist, Martin
Publications (10 of 69) Show all publications
Ho, D. & Enqvist, M. (2018). On the equivalence of inverse and forward IV estimators with application to quadcopter modeling. In: 18th IFAC Symposium on System Identification (SYSID), Proceedings: . Paper presented at 18th IFAC Symposium on System Identification (SYSID), Stockholm, Sweden, July 9-11, 2018 (pp. 951-956). Elsevier, 51(15)
Open this publication in new window or tab >>On the equivalence of inverse and forward IV estimators with application to quadcopter modeling
2018 (English)In: 18th IFAC Symposium on System Identification (SYSID), Proceedings, Elsevier, 2018, Vol. 51, no 15, p. 951-956Conference paper, Published paper (Refereed)
Abstract [en]

This paper concerns the estimation of a dynamic model from two measured signals when it is not clear which signal should be used as input to the model. In this case, both a forward and an inverse model can be estimated. Here, a basic instrumental variable approach is used and it is shown that the forward and inverse model estimators give identical parameter estimates provided that corresponding model structures have been used. Furthermore, it is shown that this scenario occurs when properties of a quadcopter are estimated from accelerometer and gyro signals and, hence, that it does not matter which signal is used as input.

Place, publisher, year, edition, pages
Elsevier, 2018
Series
IFAC papers online
National Category
Engineering and Technology Control Engineering
Identifiers
urn:nbn:se:liu:diva-152269 (URN)10.1016/j.ifacol.2018.09.071 (DOI)000446599200161 ()
Conference
18th IFAC Symposium on System Identification (SYSID), Stockholm, Sweden, July 9-11, 2018
Note

This project has received funding from the European Union’s Horizon 2020 research and innovation programme under the Marie Sklodowska-Curie grant agreement No. 642153.

Available from: 2018-10-24 Created: 2018-10-24 Last updated: 2018-10-30Bibliographically approved
Ho, D., Linder, J., Hendeby, G. & Enqvist, M. (2017). Mass estimation of a quadcopter using IMU data. In: 2017 International Conference on Unmanned Aircraft Systems (ICUAS), June 13-16, 2017, Miami, FL, USA: . Paper presented at 2017 International Conference on Unmanned Aircraft Systems (ICUAS), June 13-16, 2017, Miami, FL, USA (pp. 1260-1266). Institute of Electrical and Electronics Engineers (IEEE)
Open this publication in new window or tab >>Mass estimation of a quadcopter using IMU data
2017 (English)In: 2017 International Conference on Unmanned Aircraft Systems (ICUAS), June 13-16, 2017, Miami, FL, USA, Institute of Electrical and Electronics Engineers (IEEE), 2017, p. 1260-1266Conference paper, Published paper (Refereed)
Abstract [en]

In this paper, an approach to estimate the mass of a quadcopter using only inertial measurements and pilot commands is presented. For this purpose, a lateral dynamic model describing the relation between the roll rate and the lateral acceleration is formulated. Due to the quadcopter’s inherent instability, a controller is used to stabilize the system and the data is collected in closed loop. Under the effect of feedback and disturbances, the inertial measurements used as input and output are correlated with the disturbances, which complicates the parameter estimation. The parameters of the model are estimated using several methods. The simulation and experimental results show that the instrumental-variable method has the best potential to estimate the mass of the quadcopter in this setup.

Place, publisher, year, edition, pages
Institute of Electrical and Electronics Engineers (IEEE), 2017
National Category
Control Engineering
Identifiers
urn:nbn:se:liu:diva-139795 (URN)10.1109/ICUAS.2017.7991417 (DOI)000425255200155 ()9781509044955 (ISBN)9781509044962 (ISBN)
Conference
2017 International Conference on Unmanned Aircraft Systems (ICUAS), June 13-16, 2017, Miami, FL, USA
Projects
MarineUAS
Funder
EU, Horizon 2020, 642153
Note

Funding agencies: European Unions Horizon research and innovation programme under the Marie Sklodowska-Curie grant [642153]

Available from: 2017-08-16 Created: 2017-08-16 Last updated: 2018-03-21Bibliographically approved
Ho, D., Linder, J., Hendeby, G. & Enqvist, M. (2017). Vertical modeling of a quadcopter for mass estimation and diagnosis purposes. In: Proceedings of the Workshop on Research, Education and Development on Unmanned Aerial Systems, RED-UAS, Linköping, Sweden, 3-5 October, 2017: . Paper presented at Workshop on Research, Education and Development on Unmanned Aerial Systems, RED-UAS, Linköping, Sweden, 3-5 October, 2017. Institute of Electrical and Electronics Engineers (IEEE)
Open this publication in new window or tab >>Vertical modeling of a quadcopter for mass estimation and diagnosis purposes
2017 (English)In: Proceedings of the Workshop on Research, Education and Development on Unmanned Aerial Systems, RED-UAS, Linköping, Sweden, 3-5 October, 2017, Institute of Electrical and Electronics Engineers (IEEE), 2017Conference paper, Published paper (Refereed)
Abstract [en]

In this work, we estimate a model of the vertical dynamics of a quadcopter and explain how this model can be used for mass estimation and diagnosis of system changes. First, a standard thrust model describing the relation between the calculated control signals of the rotors and the thrust that is commonly used in literature is estimated. The estimation results are compared to those using a refined thrust model and it turns out that the refined model gives a significant improvement. The combination of a nonlinear model and closed-loop data poses some challenges and it is shown that an instrumental variables approach can be used to obtain accurate estimates. Furthermore, we show that the refined model opens up for fault detection of the quadcopter. More specifically, this model can be used for mass estimation and also for diagnosis of other parameters that might vary between and during missions.

Place, publisher, year, edition, pages
Institute of Electrical and Electronics Engineers (IEEE), 2017
Keywords
payload, modeling, quadcopter, fault detection and isolation
National Category
Control Engineering
Identifiers
urn:nbn:se:liu:diva-141883 (URN)10.1109/RED-UAS.2017.8101665 (DOI)000427383700032 ()978-1-5386-0939-2 (ISBN)978-1-5386-0940-8 (ISBN)
Conference
Workshop on Research, Education and Development on Unmanned Aerial Systems, RED-UAS, Linköping, Sweden, 3-5 October, 2017
Projects
MarineUAS
Funder
EU, Horizon 2020, 642153
Note

This project has received funding from the European Union's Horizon 2020 research and innovation programme under the Marie Sklodowska-Curie grant agreement No. 642153.

Available from: 2017-10-11 Created: 2017-10-11 Last updated: 2018-04-11Bibliographically approved
Linder, J., Enqvist, M., Fossen, T. I., Johansen, T. A. & Gustafsson, F. (2015). Modeling for IMU-based Online Estimation of a Ship's Mass and Center of Mass. Linköping: Linköping University Electronic Press
Open this publication in new window or tab >>Modeling for IMU-based Online Estimation of a Ship's Mass and Center of Mass
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2015 (English)Report (Other academic)
Abstract [en]

A ship's roll dynamics is very sensitive to changes in the loading conditions and a worst-case scenario is the loss of stability.  This paper proposes an approach for online estimation of a ship's mass and center of mass. Instead of focusing on a sensor-rich environment where all possible signals on a ship can be measured and a complete model of the ship can be estimated, a minimal approach is adopted. A model of the roll dynamics is derived from a well-established model in literature and it is assumed that only motion measurements from an inertial measurement unit together with measurements of the rudder angle are available. Furthermore, identifiability properties and disturbance characteristics of the model are presented. Due to the properties of the model, the parameters are estimated with an iterative instrumental variable approach to mitigate the influence of the disturbances and it uses multiple datasets simultaneously to overcome identifiability issues. Finally, a simulation study is presented to investigate the sensitivity to the initial conditions and it is shown that there is a low sensitivity for the desired parameters.

Place, publisher, year, edition, pages
Linköping: Linköping University Electronic Press, 2015. p. 16
Series
LiTH-ISY-R, ISSN 1400-3902 ; 3082
Keywords
modelling, identification, operational safety, inertial measurement unit, identifiability, centre of mass, physical models, accelerometers, gyroscopes, marine systems
National Category
Control Engineering
Identifiers
urn:nbn:se:liu:diva-115546 (URN)LiTH-ISY-R-3082 (ISRN)
Available from: 2015-03-16 Created: 2015-03-16 Last updated: 2015-03-24Bibliographically approved
Linder, J., Enqvist, M., Fossen, T. I., Johansen, T. A. & Gustafsson, F. (2015). Modeling for IMU-based Online Estimation of a Ship's Mass and Center of Mass. In: Proceedings of the 10th Conference on Manoeuvring and Control of Marine Craft: . Paper presented at 10th Conference on Manoeuvring and Control of Marine Craft.
Open this publication in new window or tab >>Modeling for IMU-based Online Estimation of a Ship's Mass and Center of Mass
Show others...
2015 (English)In: Proceedings of the 10th Conference on Manoeuvring and Control of Marine Craft, 2015, , p. 16Conference paper, Published paper (Refereed)
Abstract [en]

A ship's roll dynamics is very sensitive to changes in the loading conditions and a worst-case scenario is the loss of stability.  This paper proposes an approach for online estimation of a ship's mass and center of mass. Instead of focusing on a sensor-rich environment where all possible signals on a ship can be measured and a complete model of the ship can be estimated, a minimal approach is adopted. A model of the roll dynamics is derived from a well-established model in literature and it is assumed that only motion measurements from an inertial measurement unit together with measurements of the rudder angle are available. Furthermore, identifiability properties and disturbance characteristics of the model are presented. Due to the properties of the model, the parameters are estimated with an iterative instrumental variable approach to mitigate the influence of the disturbances and it uses multiple datasets simultaneously to overcome identifiability issues. Finally, a simulation study is presented to investigate the sensitivity to the initial conditions and it is shown that the sensitivity is low for the desired parameters.

Publisher
p. 16
Series
IFAC-PapersOnLine, ISSN 2405-8963 ; 48(16)
Keywords
modelling, identification, operational safety, inertial measurement unit, identifiability, centre of mass, physical models, accelerometers, gyroscopes, marine systems
National Category
Control Engineering
Identifiers
urn:nbn:se:liu:diva-120993 (URN)10.1016/j.ifacol.2015.10.280 (DOI)
Conference
10th Conference on Manoeuvring and Control of Marine Craft
Available from: 2015-09-01 Created: 2015-09-01 Last updated: 2016-06-22
Jung, Y. & Enqvist, M. (2015). On estimation of approximate inverse models of block-oriented systems. In: Proceedings of the 17th IFAC Symposium on System Identification: . Paper presented at 17th IFAC Symposium on System Identification, Beijing, China, October 19-21, 2015 (pp. 1226-1231).
Open this publication in new window or tab >>On estimation of approximate inverse models of block-oriented systems
2015 (English)In: Proceedings of the 17th IFAC Symposium on System Identification, 2015, p. 1226-1231Conference paper, Published paper (Refereed)
Abstract [en]

This paper concerns the estimation of approximate (linear) inverse models of block-oriented systems and the presented results give an improved understanding of these approximations. The estimated inverse is intended to be used as a pre- or postdistorter of the original system and a good inverse model would thus be one that, when used in series with the original system, produces a signal that resembles the original input. An inverse model of a nonlinear system can either be estimated in the standard way (from input to output) and then inverted, or directly (from output to input). This choice will affect the model. In the general case, the two modeling approaches will lead to different models, which will be shown for Hammerstein and Wiener systems. However, for a noise-free Hammerstein system with a white Gaussian input, the two approaches will result in the same model, up to a constant. When the two models are not equal, and the goal is to use the inverse as described above, it can be beneficial to estimate an approximate inverse directly. It will also be illustrated in an example how the inverse estimate can be used to get a nonparametric estimate of the nonlinearity in a block-oriented system. 

Series
IFAC-PapersOnLine, ISSN 2405-8963 ; 48(28)
Keywords
system identification, nonlinear systems, block-oriented systems, inverse systems
National Category
Control Engineering
Identifiers
urn:nbn:se:liu:diva-122292 (URN)10.1016/j.ifacol.2015.12.299 (DOI)
Conference
17th IFAC Symposium on System Identification, Beijing, China, October 19-21, 2015
Available from: 2015-10-28 Created: 2015-10-28 Last updated: 2016-06-22
Linder, J. & Enqvist, M. (2015). On Indirect Input Measurements.
Open this publication in new window or tab >>On Indirect Input Measurements
2015 (English)Report (Other academic)
Abstract [en]

A common issue with many system identification problems is that the true input to the system is unknown. In this paper, a framework, based on indirect input measurements, is proposed to solve the problem when the input is partially or fully unknown, and cannot be measured directly. The approach relies on measurements that indirectly contain information about the unknown input. The resulting indirect model formulation, with both direct- and indirect input measurements as inputs, can be used to estimate the desired model of the original system. Due to the similarities with closed-loop system identification, an iterative instrumental variable method is proposed to estimate the indirect model. To show the applicability of the proposed method, it is applied to data from an inverted pendulum experiment with good results.

Publisher
p. 16
Series
LiTH-ISY-R, ISSN 1400-3902 ; 3080
Keywords
System identification, Model structure, Physical models, Instrumental Variable, Closed-loop
National Category
Control Engineering
Identifiers
urn:nbn:se:liu:diva-115548 (URN)LiTH-ISY-R-3080 (ISRN)
Available from: 2015-03-16 Created: 2015-03-16 Last updated: 2015-03-24Bibliographically approved
Linder, J. & Enqvist, M. (2015). On Indirect Input Measurements. In: Proceedings of the 17th IFAC Symposium on System Identification: . Paper presented at 17th IFAC Symposium on System Identification, Beijing, China, October 19-21, 2015 (pp. 104-109).
Open this publication in new window or tab >>On Indirect Input Measurements
2015 (English)In: Proceedings of the 17th IFAC Symposium on System Identification, 2015, p. 104-109Conference paper, Published paper (Refereed)
Abstract [en]

A common issue with many system identification problems is that the true input to the system is unknown. In this paper, a framework, based on indirect input measurements, is proposed to solve the problem when the input is partially or fully unknown, and cannot be measured directly. The approach relies on measurements that indirectly contain information about the unknown input. The resulting indirect model formulation, with both direct and indirect input measurements as inputs, can be used to estimate the desired model of the original system. Due to the similarities with closed-loop system identification, an iterative instrumental variable method is proposed to estimate the indirect model. To show the applicability of the proposed method, it is applied to data from an inverted pendulum experiment with good results. 

Series
IFAC-PapersOnLine, ISSN 2405-8963 ; 48(28)
Keywords
System identification, Model structure, Physical models, Instrumental variable, Closed-loop
National Category
Control Engineering
Identifiers
urn:nbn:se:liu:diva-122291 (URN)10.1016/j.ifacol.2015.12.108 (DOI)
Conference
17th IFAC Symposium on System Identification, Beijing, China, October 19-21, 2015
Projects
LINK-SIC
Available from: 2015-10-28 Created: 2015-10-28 Last updated: 2016-06-22
Linder, J., Enqvist, M., Fossen, T. I., Johansen, T. A. & Gustafsson, F. (2015). Online Estimation of Ship's Mass and Center of Mass Using Inertial Measurements. Linköping: Linköping University Electronic Press
Open this publication in new window or tab >>Online Estimation of Ship's Mass and Center of Mass Using Inertial Measurements
Show others...
2015 (English)Report (Other academic)
Abstract [en]

A ship's roll dynamics is sensitive to the mass and mass distribution. Changes in these physical properties might introduce unpredictable behavior of the ship and a {worst-case} scenario is that the ship will capsize. In this paper, a recently proposed approach for online estimation of mass and center of mass is validated using experimental data. The experiments were performed using a scale model of a ship in a wave basin. The data was collected in free run experiments where the rudder angle was recorded and the ship's motion was measured using an inertial measurement unit. The motion measurements are used in conjunction with a model of the roll dynamics to estimate the desired properties. The estimator uses the rudder angle measurements together with an instrumental variable method to mitigate the influence of disturbances. The experimental study shows that the properties can be estimated with quite good accuracy but that variance and robustness properties can be improved further.

Place, publisher, year, edition, pages
Linköping: Linköping University Electronic Press, 2015. p. 16
Series
LiTH-ISY-R, ISSN 1400-3902 ; 3081
Keywords
modelling, identification, operational safety, inertial measurement unit, identifiability, centre of mass, physical models, accelerometers, gyroscopes, marine systems
National Category
Control Engineering
Identifiers
urn:nbn:se:liu:diva-115545 (URN)LiTH-ISY-R-3081 (ISRN)
Available from: 2015-03-16 Created: 2015-03-16 Last updated: 2015-03-24Bibliographically approved
Linder, J., Enqvist, M., Fossen, T. I., Johansen, T. A. & Gustafsson, F. (2015). Online Estimation of Ship's Mass and Center of Mass Using Inertial Measurements. In: Proceedings of the 10th Conference on Manoeuvring and Control of Marine Craft: . Paper presented at 10th Conference on Manoeuvring and Control of Marine Craft.
Open this publication in new window or tab >>Online Estimation of Ship's Mass and Center of Mass Using Inertial Measurements
Show others...
2015 (English)In: Proceedings of the 10th Conference on Manoeuvring and Control of Marine Craft, 2015, , p. 16Conference paper, Published paper (Refereed)
Abstract [en]

A ship's roll dynamics is sensitive to the mass and mass distribution. Changes in these physical properties might introduce unpredictable behavior of the ship and a worst-case scenario is that the ship will capsize. In this paper, a recently proposed approach for online estimation of mass and center of mass is validated using experimental data. The experiments were performed using a scale model of a ship in a wave basin. The data were collected in free run experiments where the rudder angle was recorded and the ship's motion was measured using an inertial measurement unit. The motion measurements are used in conjunction with a model of the roll dynamics to estimate the desired properties. The estimator uses the rudder angle measurements together with an instrumental variable method to mitigate the influence of disturbances. The experimental study shows that the properties can be estimated with quite good accuracy but that variance and robustness properties can be improved further.

Publisher
p. 16
Series
IFAC-PapersOnLine, ISSN 2405-8963 ; 48(16)
Keywords
modelling, identification, operational safety, inertial measurement unit, identifiability, centre of mass, physical models, accelerometers, gyroscopes, marine systems
National Category
Control Engineering
Identifiers
urn:nbn:se:liu:diva-120994 (URN)10.1016/j.ifacol.2015.10.270 (DOI)
Conference
10th Conference on Manoeuvring and Control of Marine Craft
Available from: 2015-09-01 Created: 2015-09-01 Last updated: 2016-06-22
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