A comparative study of Extended Kalman Filter and H filtering for state estimation of stewart platform manipulator

Shady A. Maged, A. A. Abouelsoud, Ahmed M R Fath El Bab, Toru Namerikawa

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

This paper presents the estimation of both position and velocity of Stewart Manipulator by means of limbs potentiometer measurements and MEMS inertial sensors. The estimation used the Extended Kalman Filter (EKF) and H optimal filtering technique based on the combination of these sensors. The two types of filters are used as nonlinear state estimators to the Stewart platform which is modeled as a stochastic differential equations due to measurement noise in case of EKF and as a continuous time system model in case of H filtering technique. The results of the both filters are compared with each other on the Stewart platform DELTALAB EX800 using MATLAB SimMechanics toolbox. The simulation results show that Kalman filters are not the best choice for parallel manipulator state estimation as they bear from the hypothesis of statistical noise with zero mean as well as known noise covariance, which may reduce its performance. For these reasons, H filter may be the alternative of Kalman filter.

Original languageEnglish
Title of host publication2016 55th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2016
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1727-1732
Number of pages6
ISBN (Electronic)9784907764500
DOIs
Publication statusPublished - 2016 Nov 18
Event55th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2016 - Tsukuba, Japan
Duration: 2016 Sep 202016 Sep 23

Other

Other55th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2016
CountryJapan
CityTsukuba
Period16/9/2016/9/23

Keywords

  • accelerometers
  • EKF
  • gyroscopes
  • H filter
  • MEMS
  • Stewart Manipulator
  • stochastic model

ASJC Scopus subject areas

  • Control and Optimization
  • Instrumentation
  • Control and Systems Engineering

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    Maged, S. A., Abouelsoud, A. A., El Bab, A. M. R. F., & Namerikawa, T. (2016). A comparative study of Extended Kalman Filter and H filtering for state estimation of stewart platform manipulator. In 2016 55th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2016 (pp. 1727-1732). [7749194] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/SICE.2016.7749194