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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)
Department机器人学研究室
Source PublicationINTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS
ISSN1729-8806
2012
Volume9Issue:0Pages:1-12
Indexed BySCI ; EI
EI Accession number20124415633408
WOS IDWOS:000309963500002
Contribution Rank1
Funding OrganizationThis 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
KeywordMit-rule Esmf Adaptive Estimation Mobile Robot
AbstractThe 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.
Language英语
WOS HeadingsScience & Technology ; Technology
WOS SubjectRobotics
WOS KeywordDYNAMICAL-SYSTEMS ; UNCERTAINTY
WOS Research AreaRobotics
Citation statistics
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/10125
Collection机器人学研究室
Corresponding AuthorSong DL(宋大雷)
AffiliationState Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China
Recommended Citation
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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