Unknown parameter identification method using Unscented Kalman Filter for container crane system

This paper describes parameter identification of a container crane system. To control an actual system, it is important to identify its equation of motion including unknown physical parameters. We applied a parameter identification method for a container crane system using the Unscented Kalman Filter (UKF). UKF is a recently developed state estimation method for nonlinear systems, and is applicable even when they have a discontinuity. Our method´s effectiveness has been verified through computer simulation and experiment.