On the Controller effect in Closed-Loop Identification for DC Servomechanisms under PD control

摘要：

This paper adresses the effect that a controller has on the parameter estimates for a closed-loop identification methodology with a DC servomechanism. Closed-loop identification is performed with a direct method, where a PD controller, which stabilizes the system without knowledge about its parameters, closes the loop. It is shown that when the perturbation signal is absent, exponential convergence can be claimed, making the identification algorithm robust. However, when there exists a perturbation signal it can be established a region where the parameter estimates belong to, and it is shown how this region is affected by the PD controller gains.

作者: R. Miranda R. Garrido M. B. Ortiz-Moctezuma

作者单位: Universidad Politecnica de Victoria. Seccion Mecatronica. Av. Nuevas Tecnologías S/N.parque Cientfic Department of Automatic Control,Center for Research and Advanced Studies (CINVESTAV) Zacatenco,Méxic

会议类型: 国际会议

会议名称: 2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

会议地点: 上海

会议语种:英文

页码: 5716-5721

在线出版日期: 2011-05-09（万方平台首次上网日期，不代表论文的发表时间）