Title :
The PID control based on nonlinear adaptive Kalman filter
Author :
Jianping, Xu ; Rongqiang, Guan ; Junyi, Liu
Author_Institution :
Jilin Teachers´´ Inst. of Technol. & Eng. Changchun, Changchun, China
Abstract :
This paper focuses on a simulation research by way of combining nonlinear adaptive Kalman filter with PID control, aiming at resolving the space attitude and the PID control system for an underwater robot. The results reveal that the nonlinear adaptive Kalman filter, compared with general Kalman filter PID control system, can inhibit white noise pollution more effectively. Thus, the control effect has been improved.
Keywords :
adaptive Kalman filters; attitude control; mobile robots; three-term control; underwater vehicles; general Kalman filter PID control system; noise pollution; nonlinear adaptive Kalman filter; simulation research; space attitude; underwater robot; Adaptation models; Control systems; Kalman filters; Mathematical model; Noise; Robots; Simulation; Kalman filter; PID control; adaptive; nonlinear;
Conference_Titel :
Electrical and Control Engineering (ICECE), 2011 International Conference on
Conference_Location :
Yichang
Print_ISBN :
978-1-4244-8162-0
DOI :
10.1109/ICECENG.2011.6057138
