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Innovative Analysis for Parameter Estimation Quality
Marina B. A. Souza,Leonardo de Mello Honório,Edimar José de Oliveira 제어·로봇·시스템학회 2021 International Journal of Control, Automation, and Vol.19 No.1
This paper performs an analysis of the solution space influence of a nonlinear dynamic system on theparameter estimation quality. For parameters estimation, the proposed approach uses an Optimal Input Design(OID) as the Suboptimal Excitation Signal Generation and Optimal Parameter Estimation (SOESGOPE). Basedon the studies of a small mobile robot that is represented by a parametric mathematical model indicate that themodel reliability level maximizes using the shortest set of parameters. Applications, qualities, and limitations of themethod are analyzed considering the solution space. Through an in-depth analysis of the identification process ofa differential mobile robot, the paper becomes a reference for a review of a nonlinear dynamic system, aiming toselect the most suitable model for the identification process.