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Visar resultat 1 - 5 av 10 avhandlingar som matchar ovanstående sökkriterier.

  1. 1. Multivariable Frequency-Domain Identification of Industrial Robots

    Författare :Erik Wernholt; Svante Gunnarsson; Jan Swevers; Linköpings universitet; []
    Nyckelord :TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; Frequency-domain identification; industrial robots; nonparametric identification; nonlinear gray-box identification; multivariable systems; closed-loop identification; Automatic control; Reglerteknik;

    Sammanfattning : Industrirobotar är idag en väsentlig del i tillverkningsindustrin där de bland annat används för att minska kostnader, öka produktivitet och kvalitet och ersätta människor i farliga eller slitsamma uppgifter. Höga krav på noggrannhet och snabbhet hos robotens rörelser innebär också höga krav på de matematiska modeller som ligger till grund för robotens styrsystem. LÄS MER

  3. 2. Identification and Estimation for Models Described by Differential-Algebraic Equations

    Författare :Markus Gerdin; Torkel Glad; Lennart Ljung; Manfred Deistler; Linköpings universitet; []
    Nyckelord :TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; Differential-Algebraic Equations; Identifiability; Nonlinear systems; Modelling; Identification; Descriptor systems; Automatic control; Reglerteknik;

    Sammanfattning : Differential-algebraic equations (DAEs) form the natural way in which models of physical systems are delivered from an object-oriented modeling tool like Modelica. Differential-algebraic equations are also known as descriptor systems, singular systems, and implicit systems. LÄS MER

  4. 3. Structural Reformulations in System Identification

    Författare :Christian Lyzell; Martin Enqvist; Lennart Ljung; Alessandro Chiuso; Linköpings universitet; []
    Nyckelord :TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; System identification; Dimension reduction; Subspace identification; Difference algebra;

    Sammanfattning : In system identification, the choice of model structure is important and it is sometimes desirable to use a flexible model structure that is able to approximate a wide range of systems. One such model structure is the Wiener class of systems, that is, systems where the input enters a linear time-invariant subsystem followed by a time-invariant nonlinearity. LÄS MER

  5. 4. Initialization Methods for System Identification

    Författare :Christian Lyzell; Lennart Ljung; Martin Enqvist; Magnus Jansson; Linköpings universitet; []
    Nyckelord :TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; System identification; Initialization methods; Regressor selection; Identifiability; Automatic control; Reglerteknik;

    Sammanfattning : In the system identification community a popular framework for the problem of estimating a parametrized model structure given a sequence of input and output pairs is given by the prediction-error method. This method tries to find the parameters which maximize the prediction capability of the corresponding model via the minimization of some chosen cost function that depends on the prediction error. LÄS MER

  7. 5. On Modeling and Control of Flexible Manipulators

    Författare :Stig Moberg; Svante Gunnarsson; Anders Robertsson; Linköpings universitet; []
    Nyckelord :TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; System identification; multivariable systems; differential-algebraic equations; robots; manipulators; flexible structures; robustness; position control; nonlinear systems; closed-loop identification; frequency-response methods; industrial robots; robotics; control; feedforward; flexible arms; Automatic control; Reglerteknik;

    Sammanfattning : Industrial robot manipulators are general-purpose machines used for industrial automation in order to increase productivity, flexibility, and quality. Other reasons for using industrial robots are cost saving, and elimination of heavy and health-hazardous work. LÄS MER