Nonlinear L₁ and L_∞ identifications forcontinuous systems with applications to class 1 robot manipulator andcomplex chemical equilibrium computations

摘要

This paper presents the nonlinear L₁ and L_∞n programming methods in the identifications of nonlinearncontinuous systems with successful applications in estimating thendynamic parameters of class 1 manipulator and in solving the complexnchemical equilibrium problems. Reaction by injecting methane gas atn300° K into air surroundings at 700° K is used to illustrate thenapplicability of the nonlinear L_∞-simplexnidentification in complex chemical equilibrium problems. The nonlinear Ln_∞-simplex minimization technique is proposed tondetermine a good approximated set of moles of dominant species bynminimizing the maximum error of linear and nonlinear physicalnconstraints due to equilibrium reaction. Eight dynamic parameters of thenthree-link class 1 robot manipulator are estimated by using thennonlinear L_∞-simplex optimization method withnobservation data obtained by simulating the robot dynamics motion due tonzero applied torques on all three joints. The estimated dynamicnparameters agree extremely well with the true nominal values providednthe parameters are fully or at least identifiable in nature