Application of an Output Filtering Method for an Unstable Wheel-Driven Pendulum System Parameter Identification
This research aims to apply an output filtering method to conduct the system parameter identification of an unstable wheel-driven pendulum system. First, the nonlinear dynamic model of the system is established by utilizing the Lagrangian dynamic theorem. Next, the Least-Square (LS) is introduced fo...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2023-11-01
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| Series: | Electronics |
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| Online Access: | https://www.mdpi.com/2079-9292/12/22/4569 |
| _version_ | 1797459534207254528 |
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| author | Chao-Chung Peng Nai-Jen Cheng Min-Che Tsai |
| author_facet | Chao-Chung Peng Nai-Jen Cheng Min-Che Tsai |
| author_sort | Chao-Chung Peng |
| collection | DOAJ |
| description | This research aims to apply an output filtering method to conduct the system parameter identification of an unstable wheel-driven pendulum system. First, the nonlinear dynamic model of the system is established by utilizing the Lagrangian dynamic theorem. Next, the Least-Square (LS) is introduced for system parameter identification formulation. Nevertheless, considering the real scenario, the wheel displacement is acquired from encoders subject to quantization errors. The pitch angle of the pendulum cart is also accompanied by Gaussian noise. Therefore, using numerical differentiation for angular acceleration in the LS estimations directly would induce incorrect state information seriously. To address this practical issue, an output filtering method is considered. The developed parameter identification algorithm could attenuate the influence of the quantization effect as well as noisy data and thus obtain much more accurate parameter identification results. Comparative simulation reveals that the output filtering method has a superior parameter estimation performance than the direct numerical difference method. |
| first_indexed | 2024-03-09T16:52:44Z |
| format | Article |
| id | doaj.art-617f91aea3934c42a8b3292763bed89c |
| institution | Directory Open Access Journal |
| issn | 2079-9292 |
| language | English |
| last_indexed | 2024-03-09T16:52:44Z |
| publishDate | 2023-11-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Electronics |
| spelling | doaj.art-617f91aea3934c42a8b3292763bed89c2023-11-24T14:39:01ZengMDPI AGElectronics2079-92922023-11-011222456910.3390/electronics12224569Application of an Output Filtering Method for an Unstable Wheel-Driven Pendulum System Parameter IdentificationChao-Chung Peng0Nai-Jen Cheng1Min-Che Tsai2Department of Aeronautics and Astronautics, National Cheng Kung University, Tainan 701, TaiwanDepartment of Aeronautics and Astronautics, National Cheng Kung University, Tainan 701, TaiwanDepartment of Aeronautics and Astronautics, National Cheng Kung University, Tainan 701, TaiwanThis research aims to apply an output filtering method to conduct the system parameter identification of an unstable wheel-driven pendulum system. First, the nonlinear dynamic model of the system is established by utilizing the Lagrangian dynamic theorem. Next, the Least-Square (LS) is introduced for system parameter identification formulation. Nevertheless, considering the real scenario, the wheel displacement is acquired from encoders subject to quantization errors. The pitch angle of the pendulum cart is also accompanied by Gaussian noise. Therefore, using numerical differentiation for angular acceleration in the LS estimations directly would induce incorrect state information seriously. To address this practical issue, an output filtering method is considered. The developed parameter identification algorithm could attenuate the influence of the quantization effect as well as noisy data and thus obtain much more accurate parameter identification results. Comparative simulation reveals that the output filtering method has a superior parameter estimation performance than the direct numerical difference method.https://www.mdpi.com/2079-9292/12/22/4569pendulumparameter identificationleast squarenoise filteringquantization error |
| spellingShingle | Chao-Chung Peng Nai-Jen Cheng Min-Che Tsai Application of an Output Filtering Method for an Unstable Wheel-Driven Pendulum System Parameter Identification Electronics pendulum parameter identification least square noise filtering quantization error |
| title | Application of an Output Filtering Method for an Unstable Wheel-Driven Pendulum System Parameter Identification |
| title_full | Application of an Output Filtering Method for an Unstable Wheel-Driven Pendulum System Parameter Identification |
| title_fullStr | Application of an Output Filtering Method for an Unstable Wheel-Driven Pendulum System Parameter Identification |
| title_full_unstemmed | Application of an Output Filtering Method for an Unstable Wheel-Driven Pendulum System Parameter Identification |
| title_short | Application of an Output Filtering Method for an Unstable Wheel-Driven Pendulum System Parameter Identification |
| title_sort | application of an output filtering method for an unstable wheel driven pendulum system parameter identification |
| topic | pendulum parameter identification least square noise filtering quantization error |
| url | https://www.mdpi.com/2079-9292/12/22/4569 |
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