Linear-wavelet models applied to the identification of a two-link manipulator

Galvão, R. K. H. and Becerra, V. M. (2002) Linear-wavelet models applied to the identification of a two-link manipulator. In: 21st IASTED international conference on modelling, identification and control (MIC 2002), 18-21 Feb 2002, Innsbruck, Austria, pp. 479-484.

Abstract/Summary

This paper shows that a wavelet network and a linear term can be advantageously combined for the purpose of non linear system identification. The theoretical foundation of this approach is laid by proving that radial wavelets are orthogonal to linear functions. A constructive procedure for building such nonlinear regression structures, termed linear-wavelet models, is described. For illustration, sim ulation data are used to identify a model for a two-link robotic manipulator. The results show that the introduction of wavelets does improve the prediction ability of a linear model.