Estimation of Viscous Friction Parameters in Acrobot
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F11%3A00184561" target="_blank" >RIV/68407700:21230/11:00184561 - isvavai.cz</a>
Result on the web
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DOI - Digital Object Identifier
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Alternative languages
Result language
angličtina
Original language name
Estimation of Viscous Friction Parameters in Acrobot
Original language description
This paper deals with estimation of coefficients of viscous friction for a model of an acrobot. The acrobot represents an underactuated nonlinear dynamic system, where typically not all states are measurable. Moreover effect of noise corruption on remaining measured states is often non negligible. However, except for friction coefficient, all remaining parameters of the model can usually be measured directly. To overcome mentioned difficulties and to take advantage of abundant prior knowledge, we applied hybrid extended Kalman filter to this task. Using Monte Carlo (MC) simulations we approximated probability density functions of friction coefficients estimate and showed that the bias and variance of the estimate can be controlled by properly designedexperiment.
Czech name
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Czech description
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Classification
Type
O - Miscellaneous
CEP classification
BB - Applied statistics, operational research
OECD FORD branch
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Result continuities
Project
<a href="/en/project/GAP103%2F10%2F0628" target="_blank" >GAP103/10/0628: Semidefinite programming for nonlinear dynamical systems</a><br>
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)
Others
Publication year
2011
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů