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On the equivalence of inverse and forward IV estimators with application to quadcopter modeling
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, Faculty of Science & Engineering.
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, Faculty of Science & Engineering.
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. Vol. 51, no 15, p. 951-956
Series
IFAC papers online
National Category
Engineering and Technology Control Engineering
Identifiers
URN: urn:nbn:se:liu:diva-152269DOI: 10.1016/j.ifacol.2018.09.071ISI: 000446599200161OAI: oai:DiVA.org:liu-152269DiVA, id: diva2:1258316
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

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On equivalence of inverse and forward IV estimators with application to quadcopter modeling(260 kB)86 downloads
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Ho, DuEnqvist, Martin

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CiteExportLink to record
Permanent link

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Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • oxford
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf