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题名: UKF-based active model and adaptive inverse dynamics control for mobile robot
作者: Song Q(宋崎) ; Han JD(韩建达)
作者部门: 机器人学研究室
会议名称: 5th International Conference on Control and Automation
会议日期: June 26-29, 2005
会议地点: Budapest, HUNGARY
会议主办者: IEEE Control Chapter, Singapore, IEEE Ind Applicat Chapter, Hungary
会议录: 2005 International Conference on Control and Automation (ICCA), Vols 1 and 2
会议录出版者: IEEE
会议录出版地: NEW YORK
出版日期: 2005
页码: 1143-1148
收录类别: CPCI(ISTP) ; EI
ISBN号: 0-7803-9137-3
摘要: Active model estimation is of central importance in the autonomous control for unmanned vehicle. In this paper, Unscented Kalman Filter (UKF) is employed for online estimation of both motion states and dynamics parameters of mobile robot. Such an active estimation is further incorporated into a classical inverse dynamics control (IDC). This is intended to make the robot autonomously adaptive to its internal uncertainties, i.e., to achieve a robust tracking performance for time-varying unknown changes in the vehicle dynamics. Extensive simulations are conducted with respect to the dynamics of a developed omni-directional mobile robot to verify the proposed scheme. The convergence of UKF-based estimation is presented in the presence of both noise corrupted signal and quickly changing state/parameters. Results of the IDC enhanced by active estimation are also compared with those of a classic PD control with constant gains to demonstrate the effectiveness of the control scheme.
语种: 英语
产权排序: 1
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/8936
Appears in Collections:机器人学研究室_会议论文

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Recommended Citation:
宋崎; 韩建达.UKF-based active model and adaptive inverse dynamics control for mobile robot.见:IEEE .2005 International Conference on Control and Automation (ICCA), Vols 1 and 2,NEW YORK,2005,1143-1148
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