Abstract
The development of advanced robotic systems for material testing by the U.S. Naval Research laboratory has expanded the set of requirements for mechatronic system control. This expansion lies beyond the limits of readily available control system capabilities because of the high control rate requirements. To establish this capability, a control mechanism based on the online identification of the ordinary differential equation governing the coupled equations of motion and deformation is proposed in the present work. The part of the proposed approach involving the inverse identification of the ODEs at hand is described in its general form first. Subsequently, the numerical verification is demonstrated via synthetic tests for a compliant actuation system with varying levels of noise injected in the system.
