An Optimal Estimation Method for Nonlinear Models of Mechanical Systems

[+] Author and Article Information
M. J. G. van de Molengraft, F. E. Veldpaus, J. J. Kok

WFW, Control and Identification of Mechanical Systems, Department of Mechanical Engineering, Eindhoven University of Technology, 5600 MB Eindhoven, The Netherlands

J. Dyn. Sys., Meas., Control 116(4), 805-810 (Dec 01, 1994) (6 pages) doi:10.1115/1.2899284 History: Revised September 18, 1992; Received July 21, 1993; Online March 17, 2008


This paper presents an optimal estimation method for nonlinear mechanical systems. The a priori knowledge of the system in the form of a nonlinear model structure is taken as a starting point. The method determines estimates of the parameters and estimates of the positions, velocities, accelerations, and inputs of the system. The optimal estimation method is applied to an experimental mechanical system. The unknown parameters in this system relate to inertia, friction and elastic deformation. It is shown that the optimal estimation method on the basis of a relatively simple model structure can lead to a useful description of the system.

Copyright © 1994 by The American Society of Mechanical Engineers
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