Identification for Modeling And Adaptive Control of Hydraulic Robot Manipulators

Abstract This paper describes the practical application of system identification methods to obtain a transfer function representation of the open-loop dynamics of an electrohydraulic actuator. The data are processed by instrumental variable algorithm. The obtained model is intended to provide a basis for control system design and simulation study. The identified model has been evaluated, respectively, by applying spectral analysis and simulation. Results show that accurate models were obtained.