A control system and method for controlling an autonomous or semi-autonomous device. The method includes receiving a command signal representative of a desired acceleration, instructing the device to accelerate according to the desired acceleration, receiving a measurement signal representative of an actual acceleration, determining an initial control response based on the actual acceleration via a prediction model, applying a mathematical transform to the command signal and measurement signal, determining a mathematical model of the device based on the transformed command signal and transformed measurement signal, smoothing parameters of the mathematical model, inverting a transfer function of the mathematical model, updating control responses based on the mathematical model and inverted transfer function, and controlling the device according to the updated control responses. Improved performance of the control system itself and hence improved control of the autonomous or semi-autonomous device is thereby achieved.
REAL TIME EFFECTIVE MASS AND MOMENT OF INERTIA MEASUREMENT
2018-05-10
Patent
Electronic Resource
English
Real time effective mass and moment of inertia measurement
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