COMPARISON OF TWO IDENTIFICATION TECHNIQUES: THEORY AND APPLICATION

摘要

Parametric identification requires a good know-how and an accurate analysis. The most popular methods consist in using simply the least squares techniques because of their simplicity. However, these techniques are not intrinsically robust. An alternative consists in helping them with an appropriate data treatment. Another choice consists in applying a robust identification method. This paper focuses on a comparison of two techniques: a “helped” least squares technique and a robust method called “the simple refined instrumental variable method”. These methods will be applied to a single degree of freedom haptic interface developed by the CEA Interactive Robotics Unit.