系統鑑別 Overall

--- tags: 系統鑑別, Overall, 莊閔皓 --- 系統鑑別 Overall === ## 鑑別系統的動態參數 ### 1. 最小平方法估測(Least Squares Estimation Methods) * [M. Gautier, W. Khalil, and P. P. Restrepo, “**Identification of the dynamic parameters of a closed loop robot**,” in Proceedings of the IEEE International Conference on Robotics and Automation, 1995, pp. 3045-3050.](https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=525717) --- * [M. Gautier and W. Khalil, “**Direct calculation of minimum set of inertial parameters of serial robots**,” IEEE Transaction on Robotics and Automation, vol. 6, pp. 368-373, 1990.](https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=56655) --- * [傅立葉級數對軌跡參數化](/QkEQzEb3SEORqlni9llQeQ) [J. Swevers, C. Ganseman, J. De Schutter, and H. Van Brussel, “**Experimental robot identification using optimised periodic trajectories**,” Mechanical Systems and Signal Processing, vol. 10, pp. 561-577, September 1996.](https://reader.elsevier.com/reader/sd/pii/S0888327096900394?token=468CBED47B67EB7E0EC6E71F9EB337F8627CCFD4D67BC1BA1CDA8532D798906C48BFA38149A8A6CE17A4CE336FF36D9A) --- * [最小平方法估測速度](/DFCkulezRdqNq0xkOWdE0w) [R. H. Brown, S. C. Schneider, and M. G. Mulligan, “**Analysis of algorithms for velocity estimation from discrete position versus time data**,” IEEE Transactions on Industrial Electronics, vol. 39, pp. 11-19, 1992.](https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=121906) --- ### 2. 延伸型卡爾曼濾波器(Extended Kalman Filter) * [M. Gautier and P. Poignet, “**Extended Kalman filtering and weighted least squares dynamic identification of robot**,” Control Engineering Practice, vol. 9, pp. 1361-1372, 2001.](https://sci-hub.tw/https://www.sciencedirect.com/science/article/pii/S0967066101001058) --- ### 3. 遞迴最小平方法(Recursive Least Squares Estimation) * [D. Kubus, T. Kroger, and F. M. Wahl, “**On-line estimation of inertial parameters using a recursive total least-squares approach**,” in Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2008, pp. 3845-3852.](https://www.sciencedirect.com/science/article/pii/S147466701642330X) ---