Estimation based PID controller-sensorless wave based technique

This paper presents a sensorless estimation algorithm for estimating °exible system parameters, dynamics and externally applied forces or torques due to system interaction with the environment. The proposed algorithm makes it possible to design a chain of observers that require measuring actuator's current and velocity along with performing two off-line experiments that do not require any additional measurement from the flexible system. The output of these observers are estimates of the system parameters, estimates of the system dynamics in con¯guration, motion and acceleration level. Eventually, the estimated positions are used to control the motion and vibration of the °exible lumped system without taking any measurement from the system. Experimental results show the validity of the proposed sensorless estimation algorithm and the possibility of controlling motion and vibration of flexible systems by focusing all the measurements on the actuator side keeping the system free from any attached sensors.