A MIT-Based Nonlinear Adaptive Set-Membership Filter for the Ellipsoidal Estimation of Mobile Robots' States
文献类型：期刊论文
| 作者 | Song DL(宋大雷) ; Wu C(吴冲); Qi JT(齐俊桐); Han JD(韩建达); Wang TR(王天然)
|
| 刊名 | INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS
 |
| 出版日期 | 2012 |
| 卷号 | 9期号:0页码:1-12 |
| 关键词 | MIT-Rule ESMF Adaptive Estimation Mobile Robot |
| ISSN号 | 1729-8806 |
| 产权排序 | 1 |
| 通讯作者 | 宋大雷 |
| 中文摘要 | The adaptive extended set-membership filter (AESMF) for nonlinear ellipsoidal estimation suffers a mismatch between real process noise and its set boundaries, which may result in unstable estimation. In this paper, a MIT method-based adaptive set-membership filter, for the optimization of the set boundaries of process noise, is developed and applied to the nonlinear joint estimation of both time-varying states and parameters. As a result of using the proposed MIT-AESMF, the estimation effectiveness and boundary accuracy of traditional AESMF are substantially improved. Simulation results have shown the efficiency and robustness of the proposed method. |
| WOS标题词 | Science & Technology ; Technology |
| 类目[WOS] | Robotics |
| 研究领域[WOS] | Robotics |
| 关键词[WOS] | DYNAMICAL-SYSTEMS ; UNCERTAINTY |
| 收录类别 | SCI ; EI |
| 资助信息 | This work was supported by The National Natural Science Foundation of China under Grant: 61035005, 61273025 and 61203334; National Key Technology R&D Program under Grant: 2011BAD20B07; National High Technology Research and Development Program (863) under Grant: 2012AA041501 |
| 语种 | 英语 |
| WOS记录号 | WOS:000309963500002 |
| 公开日期 | 2012-11-29 |
| 源URL | [http://ir.sia.cn/handle/173321/10125]  |
| 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 | Song DL,Wu C,Qi JT,et al. A MIT-Based Nonlinear Adaptive Set-Membership Filter for the Ellipsoidal Estimation of Mobile Robots' States[J]. INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS,2012,9(0):1-12. |
| APA | Song DL,Wu C,Qi JT,Han JD,&Wang TR.(2012).A MIT-Based Nonlinear Adaptive Set-Membership Filter for the Ellipsoidal Estimation of Mobile Robots' States.INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS,9(0),1-12. |
| MLA | Song DL,et al."A MIT-Based Nonlinear Adaptive Set-Membership Filter for the Ellipsoidal Estimation of Mobile Robots' States".INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS 9.0(2012):1-12. |
入库方式： OAI收割
来源：沈阳自动化研究所
浏览0
下载0
收藏0
其他版本
除非特别说明，本系统中所有内容都受版权保护，并保留所有权利。