Informative Experiment Design and Non-Parametric Identification of 6-DOF Motion Platform
| Authors: | Parra Calvache Maria Isabel, Delft University of Technology, Netherlands
Bosgra Okko, Delft University of Technology, Netherlands
Valk Peter, Delft University of Technology, Netherlands |
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| Topic: | 1.1 Modelling, Identification & Signal Processing |
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| Session: | Experiment Design |
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| Keywords: | System Identification, Non-parametric Identification, Multi-input/multi-output systems, Frequency domain, Closed-loop Identification |
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Abstract
In this paper the input design and non-parametric identificationof a 6-input, 6-output Stewart Platform is considered. Theapproach takes into account the information matrix for the choiceof realization combination of experiments. It considers as well aleast squares recovery of frequency domain components. Thisapproach makes maximum use of periodic excitations taking intoaccount the constraints on the experimental conditions imposedover the system such as limited velocity and acceleration in orderto recover the frequency response of the system from closed-loopdata.
