UKF-based active model and adaptive inverse dynamics control for mobile robot

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 机器人学研究室

	UKF-based active model and adaptive inverse dynamics control for mobile robot
	Song Q(宋崎); Han JD(韩建达)
	2005
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
页码	1143-1148
中文摘要	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.
收录类别	EI ; CPCI（ISTP）
产权排序	1
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
语种	英语
ISBN号	0-7803-9137-3
WOS记录号	WOS:000232156500204
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/8936]
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 Q,Han JD. UKF-based active model and adaptive inverse dynamics control for mobile robot[C]. 见:5th International Conference on Control and Automation. Budapest, HUNGARY. June 26-29, 2005.