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

研究成果: Conference contribution

2 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトル2016 55th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2016
出版社Institute of Electrical and Electronics Engineers Inc.
ページ1727-1732
ページ数6
ISBN(電子版)9784907764500
DOI
出版ステータスPublished - 2016 11 18
イベント55th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2016 - Tsukuba, Japan
継続期間: 2016 9 202016 9 23

Other

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

ASJC Scopus subject areas

  • 制御と最適化
  • 器械工学
  • 制御およびシステム工学

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