KF-based Adaptive UKF Algorithm and its Application for Rotorcraft UAV Actuator Failure Estimation
文献类型：期刊论文
| 作者 | Qi JT(齐俊桐) ; Song DL(宋大雷); Wu C(吴冲); Han JD(韩建达); Wang TR(王天然)
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| 刊名 | INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS
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| 出版日期 | 2012 |
| 卷号 | 9期号:0页码:1-9 |
| ISSN号 | 1729-8806 |
| 关键词 | UKF AHCs RUAV |
| 通讯作者 | 齐俊桐 |
| 产权排序 | 1 |
| 中文摘要 | A new adaptive Unscented Kalman Filter (UKF) algorithm for actuator failure estimation is proposed. A novel filter method with the ability to adapt to the statistical characteristics of noise is presented to improve the estimation accuracy of traditional UKFs. A new algorithm (Kalman Filter (KF) -based adaptive UKF), with the ability to adapt to the statistical characteristic of noise, is proposed to improve the UKF's performance. Such an adaptive mechanism is intended to compensate for the lack of prior knowledge. The asymptotic property of the adaptive UKF is discussed. Actuator Healthy Coefficients (AHCs) are introduced to denote the actuator failure model while the adaptive UKF is employed for the online estimation of both the flight states and the AHCs' parameters of a rotorcraft UAV (RUAV). Simulations are conducted using the model of a ServoHeli-90 RUAV from the Shenyang Institute of Automation, CAS. The results are compared with those obtained by normal UKF to demonstrate the effectiveness and improvements of the adaptive UKF algorithm. Besides this, we also compare this algorithm with the MIT-based one which we proposed in previous research. |
| WOS标题词 | Science & Technology ; Technology |
| 类目[WOS] | Robotics |
| 研究领域[WOS] | Robotics |
| 关键词[WOS] | KALMAN FILTER ; SYSTEMS ; STATE |
| 资助信息 | This work was supported by The National Natural Science Foundation of China under Grant: 61273025 and 61203334; National Key Technology R&D Program under Grant: 2011BAD20B07; National High Technology Research and Development Program (863) under Grant: 2012AA041501 |
| 收录类别 | SCI ; EI |
| 语种 | 英语 |
| WOS记录号 | WOS:000309965300002 |
| 公开日期 | 2012-11-29 |
| 源URL | [http://ir.sia.cn/handle/173321/10120]  |
| 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 | Qi JT,Song DL,Wu C,et al. KF-based Adaptive UKF Algorithm and its Application for Rotorcraft UAV Actuator Failure Estimation[J]. INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS,2012,9(0):1-9. |
| APA | Qi JT,Song DL,Wu C,Han JD,&Wang TR.(2012).KF-based Adaptive UKF Algorithm and its Application for Rotorcraft UAV Actuator Failure Estimation.INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS,9(0),1-9. |
| MLA | Qi JT,et al."KF-based Adaptive UKF Algorithm and its Application for Rotorcraft UAV Actuator Failure Estimation".INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS 9.0(2012):1-9. |
入库方式： OAI收割
来源：沈阳自动化研究所
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