A novel algorithm for sensorless motion control, parameter identication and position estimation
This article demonstrates that an actuator can be used as a single platform for measurement, control and estimation by designing a chain of estimators and performing simple off-line experiments. Making use of the fact that rejected torque from the dynamical system consists of all the system dynamics beside all external disturbances. The rejected torque waves are estimated using the actuator parameters, and used for an off-line experiment for parameter estimation, then the estimated rejected torque is used along with the estimated parameters to estimate the positions of any multi-degree of freedom flexible dynamical system. That makes it possible to use those estimates to achieve sensorless motion and vibration control without using actual measurement. Moreover, all the estimated parameters and system dynamics can be used in order to estimate any external disturbance on the system when it starts to interact with the environment.