Uniform Complete Observability of Mass and Rotational Inertial Parameters in Adaptive Identification of Rigid-Body Plant Dynamics
Tyler M. Paine Louis L. Whitcomb Tyler M. Paine Louis L. Whitcomb
This paper addresses the long-standing open problem of observability of mass and inertia plant parameters in the adaptive identification (AID) of second-order nonlinear models of 6 degree-of-freedom rigid-body dynamical systems subject to externally applied forces and moments. Although stable methods for AID of plant parameters for this class of systems, as well numerous approaches to stable model...