iCub::ctrl::OnlineDCMotorEstimator Class Reference

Online DC Motor Parameters Estimator. More...

#include <tuning.h>

Public Member Functions
	OnlineDCMotorEstimator ()
	Default constructor. More...
bool	init (const double Ts, const double Q, const double R, const double P0, const yarp::sig::Vector &x0)
	Initialize the estimation. More...
bool	init (const double P0, const yarp::sig::Vector &x0)
	Initialize the internal state. More...
yarp::sig::Vector	estimate (const double u, const double y)
	Estimate the state vector given the current input and the current measurement. More...
yarp::sig::Vector	get_x () const
	Return the estimated state. More...
yarp::sig::Matrix	get_P () const
	Return the estimated error covariance. More...
yarp::sig::Vector	get_parameters () const
	Return the system parameters. More...

Protected Attributes
yarp::sig::Matrix	A
yarp::sig::Matrix	F
yarp::sig::Vector	B
yarp::sig::Matrix	C
yarp::sig::Matrix	Ct
yarp::sig::Matrix	Q
yarp::sig::Matrix	P
yarp::sig::Vector	x
yarp::sig::Vector	_x
double	uOld
double	Ts
double	R

Detailed Description

Online DC Motor Parameters Estimator.

Estimate the gain \( K \) and the mechanical time constant \( \tau \) of the following DC motor second order transfer function with voltage \( V \) as input and angular position \( \theta \) as output:

\( \theta/V=K/\left(1+s\tau\right) \cdot 1/s. \)

The employed algorithm makes use of an online Extended Kalman Filter.

Definition at line 60 of file tuning.h.

Constructor & Destructor Documentation

OnlineDCMotorEstimator()

OnlineDCMotorEstimator::OnlineDCMotorEstimator

(

)

Default constructor.

Definition at line 30 of file tuning.cpp.

Member Function Documentation

estimate()

Vector OnlineDCMotorEstimator::estimate	(	const double	u,
		const double	y
	)

Estimate the state vector given the current input and the current measurement.

Parameters

u	Current input.
y	Current measurement.

Returns

Estimated state vector composed of position, velocity, \( \tau \) and \( K. \)

Definition at line 84 of file tuning.cpp.

get_P()

yarp::sig::Matrix iCub::ctrl::OnlineDCMotorEstimator::get_P ( ) const

inline

Return the estimated error covariance.

Returns

Estimated error covariance.

Definition at line 133 of file tuning.h.

get_parameters()

yarp::sig::Vector iCub::ctrl::OnlineDCMotorEstimator::get_parameters ( ) const

inline

Return the system parameters.

Returns

vector containing \( \tau \) and \( K. \)

Definition at line 140 of file tuning.h.

get_x()

yarp::sig::Vector iCub::ctrl::OnlineDCMotorEstimator::get_x ( ) const

inline

Return the estimated state.

Returns

Estimated state vector composed of position, velocity, \( \tau \) and \( K. \)

Definition at line 126 of file tuning.h.

init() [1/2]

bool iCub::ctrl::OnlineDCMotorEstimator::init	(	const double	P0,
		const yarp::sig::Vector &	x0
	)

Initialize the internal state.

Parameters

P0	Initial condition for estimated error covariance.
x0	A 4x1 vector containing respectively the initial conditions for position, velocity, \( \tau \) and \( K. \)

init() [2/2]

bool iCub::ctrl::OnlineDCMotorEstimator::init	(	const double	Ts,
		const double	Q,
		const double	R,
		const double	P0,
		const yarp::sig::Vector &	x0
	)

Initialize the estimation.

Parameters

Ts	the estimator sample time given in seconds.
Q	Process noise covariance.
R	Measurement noise covariance.
P0	Initial condition for estimated error covariance.
x0	A 4x1 vector containing respectively the initial conditions for position, velocity, \( \tau \) and \( K. \)

Returns

true/false on success/failure.

Member Data Documentation

_x

yarp::sig::Vector iCub::ctrl::OnlineDCMotorEstimator::_x

protected

Definition at line 71 of file tuning.h.

A

yarp::sig::Matrix iCub::ctrl::OnlineDCMotorEstimator::A

protected

Definition at line 63 of file tuning.h.

B

yarp::sig::Vector iCub::ctrl::OnlineDCMotorEstimator::B

protected

Definition at line 65 of file tuning.h.

C

yarp::sig::Matrix iCub::ctrl::OnlineDCMotorEstimator::C

protected

Definition at line 66 of file tuning.h.

Ct

yarp::sig::Matrix iCub::ctrl::OnlineDCMotorEstimator::Ct

protected

Definition at line 67 of file tuning.h.

F

yarp::sig::Matrix iCub::ctrl::OnlineDCMotorEstimator::F

protected

Definition at line 64 of file tuning.h.

P

yarp::sig::Matrix iCub::ctrl::OnlineDCMotorEstimator::P

protected

Definition at line 69 of file tuning.h.

Q

yarp::sig::Matrix iCub::ctrl::OnlineDCMotorEstimator::Q

protected

Definition at line 68 of file tuning.h.

R

double iCub::ctrl::OnlineDCMotorEstimator::R

protected

Definition at line 74 of file tuning.h.

Ts

double iCub::ctrl::OnlineDCMotorEstimator::Ts

protected

Definition at line 73 of file tuning.h.

uOld

double iCub::ctrl::OnlineDCMotorEstimator::uOld

protected

Definition at line 72 of file tuning.h.

x

yarp::sig::Vector iCub::ctrl::OnlineDCMotorEstimator::x

protected

Definition at line 70 of file tuning.h.

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The documentation for this class was generated from the following files:

• icub-main/src/libraries/ctrlLib/include/iCub/ctrl/tuning.h
• icub-main/src/libraries/ctrlLib/src/tuning.cpp