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A Closed-loop Instrumental Variable Approach to Mass and Center of Mass Estimation Using IMU Data
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.ORCID iD: 0000-0003-3498-3204
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.
2014 (English)In: Proceedings of the 53rd Conference on Decision and Control, 2014, 283-289 p.Conference paper, Published paper (Refereed)
Abstract [en]

In this paper, an instrumental variable (IV) method for estimating the mass and center of mass (CM) of a ship using IMU data has been further investigated. Here, this IV method, which was proposed in an earlier paper, has been analyzed from a closed-loop point of view. This new perspective reveals the properties of the system and dependencies of the signals used in the estimation procedure. Due to similarities with closed-loop identification, previous results in the closed-loop identification field have been used as an inspiration to improve the IV estimator. Since the roll dynamics of a ship is well described by a pendulum model, a pendulum experiment has been carried out to validate the performance both of the original and the improved IV estimators. The experiments gave good results for the improved IV estimator with significantly lower variances and relative errors than the previous IV estimator.

Place, publisher, year, edition, pages
2014. 283-289 p.
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:liu:diva-117130DOI: 10.1109/CDC.2014.7039395ISBN: 978-1-4799-7746-8 (print)OAI: oai:DiVA.org:liu-117130DiVA: diva2:805875
Conference
53rd Conference on Decision and Control, USA, Los Angeles, December 2014.
Projects
LINK-SIC
Available from: 2015-04-16 Created: 2015-04-16 Last updated: 2016-06-22

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Linder, JonasEnqvist, MartinGustafsson, Fredrik

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CiteExportLink to record
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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