Parameter Estimation of the Lankarani-Nikravesh Contact Force Model Using a New Modified Linear Method

Parameter estimation plays a key role in describing a dynamical system behavior accurately. Thus, the inverse problems to identify the parameter values which characterize the dynamical system have attracted much attention from the engineering field in recent years. The Lankarani-Nikravesh (L-N) contact force model, which is proven to be more consistent with the physics of contact, is employed to describe the contact process in this paper. Based on the Taylor series and exponentially weighted recursive least squares (EWRLS) estimation method, a new modified linear method is proposed to identify the dynamical parameters of the L-N contact force model. Some simulation examples are presented to evaluate the convergence sensitivity of the modified method and the existing Haddadi method to parameter initial conditions.