Adaptive identification of the environment characteristics in the contact tasks

An adaptive algorithm for identification of the unknown parameters of the dynamic environment in contact tasks is proposed in this paper using the augmented least square estimation method. An approximate environment digital simulator for the continuous environment dynamics is derived, i.e. a discrete transfer function which has the approximately the same characteristics as the continuous environment dynamics is found. For solving this task a method named hold equivalence is used. The general model of the environment dynamics is given. The environment dynamics is represented by second order models with parameter uncertainties