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Experiment Design for Identification of Nonlinear Gray-box Models with Application to Industrial Robots
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
2007 (English)Report (Other academic)
Abstract [en]

Experiment design involving selection of optimal experiment positions for nonlinear gray-box models is studied. From the derived Fisher information matrix, a convex optimization problem is posed. By considering the dual problem, the experiment design is efficiently solved with linear complexity in the number of candidate positions, compared to cubic complexity for the primal problem. In the numerical illustration, using an industrial robot, the parameter covariance is reduced by a factor of six by using the 15 optimal positions compared to using the optimal single position in all experiments.

Place, publisher, year, edition, pages
Linköping: Linköping University Electronic Press, 2007. , 11 p.
Series
LiTH-ISY-R, ISSN 1400-3902 ; 2774
Keyword [en]
Identication, Experiment design, Robotics, Nonlinear Gray-box models, Convex optimization
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:liu:diva-55823ISRN: LiTH-ISY-R-2774OAI: oai:DiVA.org:liu-55823DiVA: diva2:316507
Available from: 2010-04-30 Created: 2010-04-30 Last updated: 2014-10-03Bibliographically approved

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Wernholt, ErikLöfberg, Johan

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CiteExportLink to record
Permanent link

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Citation style
  • apa
  • harvard1
  • 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