This report presents a new method for dynamics identification and implements the identified models for enhanced haptic display. The report also derives an adaptive virtual coupling design technique for increasing the control performance in haptic displays. Practical dynamics models are essential for
In computational science it is common to describe dynamic systems by mathematical models in forms of differential or integral equations. These models may contain parameters that have to be computed for the model to be complete. For the special type of ordinary differential equations studied in this thesis, the resulting parameter estimation problem is a separable nonlinear least squares problem with equality constraints.
The Centre for Large Space Structures and Systems Inc. (CLS3) is planning a low Earth orbit formation flying satellite mission with four nanosatellites. The project will be a collaboration between companies and Universities, with CLS3 contributing with the control subsystem. Although formation