Title :
Experimental comparison of online parameter identification schemes for a nanopositioning stage with variable mass
Author :
Eielsen, Arnfinn A. ; Poloni, Tomas ; Johansen, Tor Arne ; Gravdahl, Jan Tommy
Author_Institution :
Dept. of Eng. Cybern., Norwegian Univ. of Sci. & Technol., Trondheim, Norway
Abstract :
An experimental comparison of two common parameter identification schemes is presented. The recursive least-squares method and the extended Kalman filter are applied to identify three parameters of a second-order linear mass-spring-damper model, using data obtained from a nanopositioning stage with a highly resonant dynamic response.
Keywords :
Kalman filters; dynamic response; least squares approximations; nanopositioning; parameter estimation; recursive estimation; shock absorbers; springs (mechanical); extended Kalman filter; nanopositioning stage; online parameter identification schemes; parameter identification schemes; recursive least-squares method; resonant dynamic response; second-order linear mass-spring-damper model; variable mass; Cutoff frequency; Damping; Kalman filters; Mathematical model; Nanopositioning; Payloads; Piezoelectric actuators;
Conference_Titel :
Advanced Intelligent Mechatronics (AIM), 2011 IEEE/ASME International Conference on
Conference_Location :
Budapest
Print_ISBN :
978-1-4577-0838-1
DOI :
10.1109/AIM.2011.6027083
