A comparison of nonlinear estimation methods for tracked vehicle with slipping
文献类型：会议论文
| 作者 | Zhou B(周波) ; Han JD(韩建达)
|
| 出版日期 | 2007 |
| 会议名称 | IEEE International Conference on Control and Automation |
| 会议日期 | May 30-June 1, 2007 |
| 会议地点 | Guangzhou, China |
| 关键词 | nonlinear joint estimation tracked vehicle Kalman filter particle filter set-membership |
| 页码 | 389-394 |
| 中文摘要 | Four different nonlinear filters are used to estimate both states and time-varying slipping parameters of the created kinematic model of a tracked vehicle. The first filter is the well-known extended Kalman filter. The second filter is a recent development of unscented version of the Kalman filter. The third one is a particle filter using the unscented Kalman filter to generate the importance proposal distribution. The last one is a novel and guaranteed filter that use a linear set-membership estimator and can give an ellipsoid set in which the true state lies. The four different approaches have different complexities, behavior and advantages that are compared in simulations. |
| 收录类别 | EI ; CPCI（ISTP） |
| 产权排序 | 1 |
| 会议主办者 | IEEE |
| 会议录 | 2007 IEEE INTERNATIONAL CONFERENCE ON CONTROL AND AUTOMATION, VOLS 1-7
 |
| 会议录出版者 | IEEE |
| 会议录出版地 | NEW YORK |
| 语种 | 英语 |
| ISBN号 | 978-1-4244-0817-7 |
| WOS记录号 | WOS:000257195302104 |
| 源URL | [http://ir.sia.cn/handle/173321/8469]  |
| 专题 | 沈阳自动化研究所_机器人学研究室 |
| 推荐引用方式 GB/T 7714 | Zhou B,Han JD. A comparison of nonlinear estimation methods for tracked vehicle with slipping[C]. 见:IEEE International Conference on Control and Automation. Guangzhou, China. May 30-June 1, 2007. |
入库方式： OAI收割
来源：沈阳自动化研究所
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