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A Closed-loop Instr...
A Closed-loop Instrumental Variable Approach to Mass and Center of Mass Estimation Using IMU Data
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- Linder, Jonas, 1984- (author)
- Linköpings universitet,Reglerteknik,Tekniska högskolan
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- Enqvist, Martin (author)
- Linköpings universitet,Reglerteknik,Tekniska högskolan
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- Gustafsson, Fredrik (author)
- Linköpings universitet,Reglerteknik,Tekniska högskolan
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(creator_code:org_t)
- 2014
- 2014
- English.
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In: Proceedings of the 53rd Conference on Decision and Control. - 9781479977468 ; , s. 283-289
- Related links:
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https://urn.kb.se/re...
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https://doi.org/10.1...
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Abstract
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- In this paper, an instrumental variable (IV) method for estimating the mass and center of mass (CM) of a ship using IMU data has been further investigated. Here, this IV method, which was proposed in an earlier paper, has been analyzed from a closed-loop point of view. This new perspective reveals the properties of the system and dependencies of the signals used in the estimation procedure. Due to similarities with closed-loop identification, previous results in the closed-loop identification field have been used as an inspiration to improve the IV estimator. Since the roll dynamics of a ship is well described by a pendulum model, a pendulum experiment has been carried out to validate the performance both of the original and the improved IV estimators. The experiments gave good results for the improved IV estimator with significantly lower variances and relative errors than the previous IV estimator.
Subject headings
- TEKNIK OCH TEKNOLOGIER -- Elektroteknik och elektronik -- Reglerteknik (hsv//swe)
- ENGINEERING AND TECHNOLOGY -- Electrical Engineering, Electronic Engineering, Information Engineering -- Control Engineering (hsv//eng)
Publication and Content Type
- ref (subject category)
- kon (subject category)
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