Details
| Originalsprache | Englisch |
|---|---|
| Titel des Sammelwerks | IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings |
| Seiten | 6181-6186 |
| Seitenumfang | 6 |
| Publikationsstatus | Veröffentlicht - Dez. 2010 |
| Extern publiziert | Ja |
| Veranstaltung | 23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Taipei, Taiwan Dauer: 18 Okt. 2010 → 22 Okt. 2010 |
Publikationsreihe
| Name | IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings |
|---|
Abstract
This article adresses aspects of the a-priori computation of the Fisher information matrix. The aim of the type of Fisher matrix discussed is the experiment design for parameter estimation of nonlinear state space models. A definition for the sampling of experiments is stated, which is convenient for software implementation. Both, measurement samples that belong to a coherent sequence and samples from independent experiments, may be stored together in one single data structure. Since the covariance matrix of the prediction error is required in the Fisher matrix, a method for its a-priori prediction is proposed. A servo-hydraulic positioning system serves as a validation example. The comparison of the a-priori and a-posteriori Fisher matrices of this example show that the method proposed is suitable to provide an approximation of an optimality criterion for experiment design.
ASJC Scopus Sachgebiete
- Informatik (insg.)
- Artificial intelligence
- Informatik (insg.)
- Mensch-Maschine-Interaktion
- Ingenieurwesen (insg.)
- Steuerungs- und Systemtechnik
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IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings. 2010. S. 6181-6186 5650398 (IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings).
Publikation: Beitrag in Buch/Bericht/Sammelwerk/Konferenzband › Aufsatz in Konferenzband › Forschung › Peer-Review
}
TY - GEN
T1 - Numerical aspects regarding the a-priori fisher information of nonlinear models for hydraulic servo-systems
AU - Dietrich, Franz
AU - Raatz, Annika
AU - Hesselbach, Jürgen
PY - 2010/12
Y1 - 2010/12
N2 - This article adresses aspects of the a-priori computation of the Fisher information matrix. The aim of the type of Fisher matrix discussed is the experiment design for parameter estimation of nonlinear state space models. A definition for the sampling of experiments is stated, which is convenient for software implementation. Both, measurement samples that belong to a coherent sequence and samples from independent experiments, may be stored together in one single data structure. Since the covariance matrix of the prediction error is required in the Fisher matrix, a method for its a-priori prediction is proposed. A servo-hydraulic positioning system serves as a validation example. The comparison of the a-priori and a-posteriori Fisher matrices of this example show that the method proposed is suitable to provide an approximation of an optimality criterion for experiment design.
AB - This article adresses aspects of the a-priori computation of the Fisher information matrix. The aim of the type of Fisher matrix discussed is the experiment design for parameter estimation of nonlinear state space models. A definition for the sampling of experiments is stated, which is convenient for software implementation. Both, measurement samples that belong to a coherent sequence and samples from independent experiments, may be stored together in one single data structure. Since the covariance matrix of the prediction error is required in the Fisher matrix, a method for its a-priori prediction is proposed. A servo-hydraulic positioning system serves as a validation example. The comparison of the a-priori and a-posteriori Fisher matrices of this example show that the method proposed is suitable to provide an approximation of an optimality criterion for experiment design.
UR - http://www.scopus.com/inward/record.url?scp=78651494846&partnerID=8YFLogxK
U2 - 10.1109/IROS.2010.5650398
DO - 10.1109/IROS.2010.5650398
M3 - Conference contribution
AN - SCOPUS:78651494846
SN - 9781424466757
T3 - IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings
SP - 6181
EP - 6186
BT - IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings
T2 - 23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010
Y2 - 18 October 2010 through 22 October 2010
ER -