Parametric time domain identification of a flexible robotic arm using evolutionary algorithms
نویسندگان
چکیده
In this paper the techniques of evolutionary system identification are implemented in the parametric, time domain identification of a flexible robotic arm. More specifically, the (μ+λ) Evolution Strategy (ES) is used for the estimation of both ARMA and ARMAX models, by means of Prediction-Error method (PEM), capable to describe system’s dynamics in the absence or existence of an input data set, respectively. The performance of (μ+λ)-ES within the framework of PEM is monitored throughout the estimation process and evaluated by the corresponding fitness to data of its resulted models and also by the ability to produce valid modal characteristics (natural frequencies, damping ratios). Key-Words: System Identification, Evolutionary Algorithms, Modal Analysis.
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