System identification model for an Intellignent Pneumatic Actuator (Ipa) system
Abstract: Intelligent Pneumatic Actuators (IPA) is a new generation of actuator for Research and Development (R&D). The purpose of this paper is to present the System Identification (SI) technique and procedure for the IPA system. System identification is used to obtain the mathematical model (...
保存先:
| 主要な著者: | , , , , , |
|---|---|
| フォーマット: | Conference or Workshop Item |
| 出版事項: |
2012
|
| オンライン･アクセス: | http://eprints.utm.my/id/eprint/34230/ |
| タグ: |
タグ追加
タグなし, このレコードへの初めてのタグを付けませんか!
|
| id |
my.utm.34230 |
|---|---|
| record_format |
eprints |
| spelling |
my.utm.342302017-09-10T06:14:50Z http://eprints.utm.my/id/eprint/34230/ System identification model for an Intellignent Pneumatic Actuator (Ipa) system Osman, Khairuddin Mohd. Faudzi, Ahmad 'Athif Rahmat, M.F. Mustafa, Nu'man Din Azman, M. Asyraf Suzumori, Koichi Abstract: Intelligent Pneumatic Actuators (IPA) is a new generation of actuator for Research and Development (R&D). The purpose of this paper is to present the System Identification (SI) technique and procedure for the IPA system. System identification is used to obtain the mathematical model (transfer function) of the IPA system from the measured experimental data. Flow for the SI procedure starts with experimental setup, model structure selection, model estimation, model validation and finally testing with basic controller to prove the operation of IPA system. Auto Regressive with Exogenous Input (ARX) model is chosen as model structure of the system. Based on the input and output data of the system (model validation), best fit criterion and correlation analysis of the residual is analyzed to determine the adequate model to represent the IPA system. The result from SI model shows linear discrete model in order to obtain a discrete transfer function for the IPA system. 2012 Conference or Workshop Item PeerReviewed Osman, Khairuddin and Mohd. Faudzi, Ahmad 'Athif and Rahmat, M.F. and Mustafa, Nu'man Din and Azman, M. Asyraf and Suzumori, Koichi (2012) System identification model for an Intellignent Pneumatic Actuator (Ipa) system. In: Intelligent Robots and Systems (IROS 2012). |
| institution |
Universiti Teknologi Malaysia |
| building |
UTM Library |
| collection |
Institutional Repository |
| continent |
Asia |
| country |
Malaysia |
| content_provider |
Universiti Teknologi Malaysia |
| content_source |
UTM Institutional Repository |
| url_provider |
http://eprints.utm.my/ |
| description |
Abstract:
Intelligent Pneumatic Actuators (IPA) is a new generation of actuator for Research and Development (R&D). The purpose of this paper is to present the System Identification (SI) technique and procedure for the IPA system. System identification is used to obtain the mathematical model (transfer function) of the IPA system from the measured experimental data. Flow for the SI procedure starts with experimental setup, model structure selection, model estimation, model validation and finally testing with basic controller to prove the operation of IPA system. Auto Regressive with Exogenous Input (ARX) model is chosen as model structure of the system. Based on the input and output data of the system (model validation), best fit criterion and correlation analysis of the residual is analyzed to determine the adequate model to represent the IPA system. The result from SI model shows linear discrete model in order to obtain a discrete transfer function for the IPA system. |
| format |
Conference or Workshop Item |
| author |
Osman, Khairuddin Mohd. Faudzi, Ahmad 'Athif Rahmat, M.F. Mustafa, Nu'man Din Azman, M. Asyraf Suzumori, Koichi |
| spellingShingle |
Osman, Khairuddin Mohd. Faudzi, Ahmad 'Athif Rahmat, M.F. Mustafa, Nu'man Din Azman, M. Asyraf Suzumori, Koichi System identification model for an Intellignent Pneumatic Actuator (Ipa) system |
| author_facet |
Osman, Khairuddin Mohd. Faudzi, Ahmad 'Athif Rahmat, M.F. Mustafa, Nu'man Din Azman, M. Asyraf Suzumori, Koichi |
| author_sort |
Osman, Khairuddin |
| title |
System identification model for an Intellignent Pneumatic Actuator (Ipa) system |
| title_short |
System identification model for an Intellignent Pneumatic Actuator (Ipa) system |
| title_full |
System identification model for an Intellignent Pneumatic Actuator (Ipa) system |
| title_fullStr |
System identification model for an Intellignent Pneumatic Actuator (Ipa) system |
| title_full_unstemmed |
System identification model for an Intellignent Pneumatic Actuator (Ipa) system |
| title_sort |
system identification model for an intellignent pneumatic actuator (ipa) system |
| publishDate |
2012 |
| url |
http://eprints.utm.my/id/eprint/34230/ |
| _version_ |
1643649543045120000 |
| score |
13.251813 |