Documenti accessibili
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Informazioni generali |
| Autore |
Rigatos, Gerasimos G. |
| Pubblicato |
InTech Open Access Publisher, 2013
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| Abstract |
This paper presents an approach to distributed
state estimation‐based control of nonlinear MIMO
systems, capable of incorporating delayed measurements
in the estimation algorithm while also being robust to
packet losses. First, the paper examines the problem of
distributed nonlinear filtering over a
communication/sensors network, and the use of the
estimated state vector in a control loop. As a possible
filtering approach, an extended information filter (EIF) is
proposed. The extended information filter requires the
computation of Jacobians which in the case of high order
nonlinear dynamical systems can be a cumbersome
procedure, while it also introduces cumulative errors to
the state estimation due to the approximative
linearization performed in the Taylor series expansion of
the system’s nonlinear model. To overcome the
aforementioned weaknesses of the extended information
filter, a derivative‐free approach to extended information
filtering has been proposed. Distributed filtering is now
based on a derivative‐free implementation of Kalman
filtering which is shown to be applicable to MIMO
nonlinear dynamical systems. In the proposed derivativefree
extended information filtering, the system is first
subject to a linearization transformation that makes use of
the differential flatness theory. It is shown how the
proposed distributed filtering method can succeed in
compensation of random delays and packet drops which
may appear during the transmission of measurements
and of state vector estimates, thus assuring a reliable
performance of the distributed filtering‐based control
scheme. Evaluation tests are carried out on benchmark
MIMO nonlinear systems, such as multi‐DOF robotic
manipulators. |
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International Journal of Advanced Robotic Systems
Autore: Ottaviano, Erika; Ceccarelli, Marco; Husty, Manfred; Yu, Sung-Hoon; Kim, Yong-Tae; Park, Chang-Woo; Hyun, Chang-Ho; Chen, Xiulong; Feng, Weiming; Sun, Xianyang; Gao, Qing; Grigorescu, Sorin M.; Pozna, Claudiu; Liu, Wanli; Zhankui, Wang; Guo, Meng; Fu, Guoyu; Zhang, Jin; Chen, Wenyuan; Peng, Fengchao; Yang, Pei; Chen, Chunlin; Ding, Rui; Yu, Junzhi; Yang, Qinghai; Tan, Min; Polden, Joseph; Pan, [...]
Pubblicato: 2004
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