Method of updating value of parameter in estimator, storage medium storing computer program, and control system
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United States of America Patent
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Feb 21, 2023
Grant Date -
Jun 4, 2020
app pub date -
Oct 30, 2019
filing date -
Nov 30, 2018
priority date (Note) -
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status (Latency Note)
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Abstract
An aspect of this specification discloses a method of, based on a control input to a controlled object and on a control output from the controlled object, updating a value of a parameter in an estimator configured to estimate external force that acts on the controlled object. The method includes: determining whether the controlled object is in a particular state in which external force that acts on the controlled object is known; during a period in which it is determined that the controlled object is in the particular state, calculating, as a learning value, the value of the parameter that reduces an error between the known external force and estimated external force, the estimated external force being estimated by the estimator based on the control input and the control output;
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