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System identification and a model-based control strategy of motor driven system with high order flexible manipulator

Youshuang Ding (Electrical Engineering, Tsinghua University, Beijing, China)
Xi Xiao (Tsinghua University, Beijing, China)
Xuanrui Huang (Tsinghua University, Beijing, China)
Jiexiang Sun (Beijing Research Institute of Automation for Machinery Industry Co., Ltd, Beijing, China)

Industrial Robot

ISSN: 0143-991x

Article publication date: 17 July 2019

Issue publication date: 21 August 2019




This paper aims to propose a novel system identification and resonance suppression strategy for motor-driven system with high-order flexible manipulator.


In this paper, first, a unified mathematical model is proposed to describe both the flexible joints and the flexible link system. Then to suppress the resonance brought by the system flexibility, a model based high-order notch filter controller is proposed. To get the true value of the parameters of the high-order flexible manipulator system, a fuzzy-Kalman filter-based two-step system identification algorithm is proposed.


Compared to the traditional system identification algorithm, the proposed two-step system identification algorithm can accurately identify the unknown parameters of the high order flexible manipulator system with high dynamic response. The performance of the two-step system identification algorithm and the model-based high-order notch filter is verified via simulation and experimental results.


The proposed system identification method can identify the system parameters with both high accuracy and high dynamic response. With the proposed system identification and model-based controller, the positioning accuracy of the flexible manipulator can be greatly improved.



This work is supported by National Natural Science Foundation China Grant No. 51577095.


Ding, Y., Xiao, X., Huang, X. and Sun, J. (2019), "System identification and a model-based control strategy of motor driven system with high order flexible manipulator", Industrial Robot, Vol. 46 No. 5, pp. 672-681.



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