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题名: KF-based Adaptive UKF Algorithm and its Application for Rotorcraft UAV Actuator Failure Estimation
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)
作者部门: 机器人学研究室
关键词: UKF ; AHCs ; RUAV
刊名: INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS
ISSN号: 1729-8806
出版日期: 2012
卷号: 9, 期号:0, 页码:1-9
收录类别: SCI ; EI
产权排序: 1
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记录号: WOS:000309965300002
WOS标题词: Science & Technology ; Technology
类目[WOS]: Robotics
关键词[WOS]: KALMAN FILTER ; SYSTEMS ; STATE
研究领域[WOS]: Robotics
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内容类型: 期刊论文
URI标识: http://ir.sia.cn/handle/173321/10120
Appears in Collections:机器人学研究室_期刊论文

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Recommended Citation:
齐俊桐; 宋大雷; 吴冲; 韩建达; 王天然.KF-based Adaptive UKF Algorithm and its Application for Rotorcraft UAV Actuator Failure Estimation,INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS,2012,9():1-9
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文件名: KF-based Adaptive UKF Algorithm and its Application for Rotorcraft UAV Actuator Failure Estimation.pdf
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