A Novel Algorithm for Sensorless Motion Control, Parameter Identification and Position Estimation

This article demonstrates that an actuator can be used as a single platform for measurement, control and estimation by designing a chain of estimators and performing simple offline experiments. Making use of the fact that reflected torque from the dynamical system consists of all the system dynamics beside all external disturbances. The reflected torque waves are estimated using the actuator parameters, and used for an offline experiment for parameter estimation, then the estimated reflected torque is used along with the estimated parameters to estimate the positions of any multi-degree of freedom flexible dynamical system. That makes it possible to use those estimates to achieve sensorless motion and vibration control without using actual measurement. Moreover, all the estimated parameters and system dynamics can be used in order to estimate any external disturbance on the system when it starts to interact with the environment.