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A MIT-Based Nonlinear Adaptive Set-Membership Filter for the Ellipsoidal Estimation of Mobile Robots' States
Song DL(宋大雷); Wu C(吴冲); Qi JT(齐俊桐); Han JD(韩建达); Wang TR(王天然)
作者部门机器人学研究室
关键词Mit-rule Esmf Adaptive Estimation Mobile Robot
发表期刊INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS
ISSN1729-8806
2012
卷号9期号:0页码:1-12
收录类别SCI ; EI
EI收录号20124415633408
WOS记录号WOS:000309963500002
产权排序1
资助机构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
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.
语种英语
WOS标题词Science & Technology ; Technology
WOS类目Robotics
关键词[WOS]DYNAMICAL-SYSTEMS ; UNCERTAINTY
WOS研究方向Robotics
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文献类型期刊论文
条目标识符http://ir.sia.cn/handle/173321/10125
专题机器人学研究室
通讯作者Song DL(宋大雷)
作者单位State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China
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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.
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