DocumentCode
2640912
Title
Estimation of rotary inverted pendulum by using the unscented Kalman filter - estimation of the initial state -
Author
Zheng, Min ; Ikeda, Kenji ; Shimomura, Takao
Author_Institution
Univ. of Tokushima, Tokushima
fYear
2007
fDate
17-20 Sept. 2007
Firstpage
1670
Lastpage
1673
Abstract
This paper proposes a continuous-time model estimation method by using the unscented Kalman filter (UKF) from the sampled I/O data, in which the initial state as well as the plant parameter are estimated. The initial state is estimated based on a backward system of the plant. The effectiveness is demonstrated by using the rotary inverted pendulum (RIP) to estimate the initial state and the parameter of a continuous-time nonlinear system.
Keywords
Kalman filters; continuous time systems; estimation theory; nonlinear systems; parameter estimation; pendulums; continuous-time model estimation method; continuous-time nonlinear system; rotary inverted pendulum; unscented Kalman filter; Electronic mail; Jacobian matrices; Nonlinear systems; Numerical models; Parameter estimation; Random variables; Sampling methods; State estimation; Statistics; System identification; Rotary Inverted Pendulum; Unscented Kalman Filter; backward system; continuous-time nonlinear system; parameter estimation;
fLanguage
English
Publisher
ieee
Conference_Titel
SICE, 2007 Annual Conference
Conference_Location
Takamatsu
Print_ISBN
978-4-907764-27-2
Electronic_ISBN
978-4-907764-27-2
Type
conf
DOI
10.1109/SICE.2007.4421252
Filename
4421252
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