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Experimental Verification of Nonlinear System Model Parameter Identification Based On Trajectory Pattern Method

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dc.contributor.advisor Rastegar, Jahangir , Ge, Q. Jeffrey en_US
dc.contributor.author Chen, Xiao en_US
dc.contributor.other Department of Mechanical Engineering en_US
dc.date.accessioned 2013-05-22T17:34:19Z
dc.date.accessioned 2015-04-24T14:46:20Z
dc.date.available 2013-05-22T17:34:19Z
dc.date.available 2015-04-24T14:46:20Z
dc.date.issued 2012-05-01
dc.identifier Chen_grad.sunysb_0771M_10939 en_US
dc.identifier.uri http://hdl.handle.net/1951/59611 en_US
dc.identifier.uri http://hdl.handle.net/11401/71183 en_US
dc.description 88 pg. en_US
dc.description.abstract The purpose of this thesis was to verify the Trajectory Pattern Method (TPM) based nonlinear system model parameter identification method for a two degrees of freedom closed loop planar robotic manipulator. The systematic procedure and the mathematical proof of convergence of the method were introduced first. A model based feedforward control system was constructed for the control of the planar manipulator. The software of the control system was implemented. Experiments were performed to demonstrate the effectiveness of the TPM based parameter identification method. The experimental results, which can be extended to a large class of nonlinear mechanical systems whose models are linear with respect to their model parameters, showed that the estimated parameters were getting closer to their nominal values during the parameter updating process. As the kinematics and dynamics parameters of the system approached their nominal values, the model based feedforward control system would control the system better. The integral of the squared errors of the outputs were calculated to show that the overall control performance was improved after each parameter updating step. The principle conclusion drawn from the experiment revealed that the developed parameter identification method was very effective on the highly nonlinear dynamic system. en_US
dc.description.sponsorship This work is sponsored by the Stony Brook University Graduate School in compliance with the requirements for completion of degree. en_US
dc.format Monograph en_US
dc.format.medium Electronic Resource en_US
dc.language.iso en_US en_US
dc.publisher The Graduate School, Stony Brook University: Stony Brook, NY. en_US
dc.subject.lcsh Engineering, Mechanical--Engineering, Electronics and Electrical en_US
dc.subject.other nonlinear system, parameter identification, Trajectory Pattern Method en_US
dc.title Experimental Verification of Nonlinear System Model Parameter Identification Based On Trajectory Pattern Method en_US
dc.type Thesis en_US
dc.mimetype Application/PDF en_US
dc.contributor.committeemember Kao, Imin. en_US


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