A position-command-following problem for asymptotically stable linear systems is considered. To account for modeling limitations, we assume that a model is not available. Instead, acceleration data are used to construct a compliance (position-output) model, which is subsequently used to design a position servo loop. Furthermore, we assume that the acceleration measurements obtained from inertial sensors are biased. A subspace identification algorithm is used to identify the inertance (acceleration-output) model, and the biased acceleration measurements are used by the position-command-following controller, which is constructed using linear quadratic Gaussian (LQG) techniques.
Position Control Using Acceleration-Based Identification and Feedback With Unknown Measurement Bias
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Chandrasekar, J., and Bernstein, D. S. (December 5, 2007). "Position Control Using Acceleration-Based Identification and Feedback With Unknown Measurement Bias." ASME. J. Dyn. Sys., Meas., Control. January 2008; 130(1): 014501. https://doi.org/10.1115/1.2807180
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