Parameter Estimation of Rotary Inverted Pendulum based on Unscented Kalman Filter

Author

Zheng, Min ; Ikeda, Kenji ; Shimomura, Takao

Author_Institution

Dept. of Inf. Sci. & Intell. Syst., Univ. of Tokushima, Tokushima

fYear

2006

Firstpage

5022

Lastpage

5025

Abstract

The unscented Kalman filter (UKF) is a nonlinear estimation method, and has been widely applied in nonlinear control applications. However, if covariance of the initial value is unknown, the estimated value does not converge to the true value in general. To improve the result of estimation, the iterated UKF is proposed as a method to repeat the estimation by redefining the initial value of the filter. Its effectiveness is demonstrated by using the rotary inverted pendulum (RIP) to estimate the parameters of a continuous-time nonlinear system.

Keywords

Kalman filters; continuous time systems; nonlinear control systems; nonlinear estimation; continuous-time nonlinear system; nonlinear control; nonlinear estimation method; parameter estimation; rotary inverted pendulum; unscented Kalman filter; Control systems; Equations; Filters; Information science; Intelligent systems; Jacobian matrices; Linear approximation; Nonlinear control systems; Nonlinear systems; Parameter estimation; Rotary Inverted Pendulum; Unscented Kalman Filter; continuous-time nonlinear system; estimation;

fLanguage

English

Publisher

ieee

Conference_Titel

SICE-ICASE, 2006. International Joint Conference

Conference_Location

Busan

Print_ISBN

89-950038-4-7

Electronic_ISBN

89-950038-5-5

Type

conf

DOI

10.1109/SICE.2006.315214

Filename

4108671