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

doi:10.1109/SICE.2016.7749194

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

Department of System Design Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

2 Citations (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 language	English
Title of host publication	2016 55th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2016
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	1727-1732
Number of pages	6
ISBN (Electronic)	9784907764500
DOIs	https://doi.org/10.1109/SICE.2016.7749194
Publication status	Published - 2016 Nov 18
Event	55th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2016 - Tsukuba, Japan Duration: 2016 Sept 20 → 2016 Sept 23

Publication series

Name	2016 55th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2016

Other

Other	55th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2016
Country/Territory	Japan
City	Tsukuba
Period	16/9/20 → 16/9/23

Keywords

EKF
H filter
MEMS
Stewart Manipulator
accelerometers
gyroscopes
stochastic model

ASJC Scopus subject areas

Control and Optimization
Instrumentation
Control and Systems Engineering

Access to Document

10.1109/SICE.2016.7749194

Cite this

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] (2016 55th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2016). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/SICE.2016.7749194

A comparative study of Extended Kalman Filter and H_∞ filtering for state estimation of stewart platform manipulator. / Maged, Shady A.; Abouelsoud, A. A.; El Bab, Ahmed M.R.Fath et al.
2016 55th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2016. Institute of Electrical and Electronics Engineers Inc., 2016. p. 1727-1732 7749194 (2016 55th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2016).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Maged, SA, Abouelsoud, AA, El Bab, AMRF & 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., 7749194, 2016 55th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2016, Institute of Electrical and Electronics Engineers Inc., pp. 1727-1732, 55th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2016, Tsukuba, Japan, 16/9/20. https://doi.org/10.1109/SICE.2016.7749194

Maged SA, Abouelsoud AA, El Bab AMRF, Namerikawa T. 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. Institute of Electrical and Electronics Engineers Inc. 2016. p. 1727-1732. 7749194. (2016 55th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2016). doi: 10.1109/SICE.2016.7749194

Maged, Shady A. ; Abouelsoud, A. A. ; El Bab, Ahmed M.R.Fath et al. / A comparative study of Extended Kalman Filter and H_∞ filtering for state estimation of stewart platform manipulator. 2016 55th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2016. Institute of Electrical and Electronics Engineers Inc., 2016. pp. 1727-1732 (2016 55th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2016).

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