Search results for "Kalman filter"
showing 10 items of 108 documents
Velocity sensorless control of a PMSM actuator directly driven an uncertain two-mass system using RKF tuned with an evolutionary algorithm
2010
This paper proposes a solution to tune an observer keeping robust closed loop performances for the sensorless motion control of an uncertain mechanical load directly driven by a PMSM through a flexible axis. An evolutionary algorithm optimizes the observers degrees of freedom. Experiments show that performances are effectively maintained.
ARIANNA: a smartphone-based navigation system with human in the loop
2014
In this paper we present a low cost navigation system, called ARIANNA, primarily designed for visually impaired people. ARIANNA (pAth Recognition for Indoor Assisted NavigatioN with Augmented perception) permits to find some points of interests in an indoor environment by following a path painted or sticked on the floor. The path is detected by the camera of the smartphone which also generates a vibration signal providing a feedback to the user for correcting his/her direction. Some special landmarks can be deployed along the path for coding additional information detectable by the camera. In order to study the practical feasibility of the ARIANNA system for human users that want to follow …
Kalman filtering applied to Profibus-DP systems. Multirate control systems with delayed signals
2008
In networked control systems several devices (controllers, sensors and actuators) share a common communication resource. This feature can introduce variable and even random delays when those devices try to transmit information through the shared medium. The limited bandwidth capabilities of the transmission medium also can restrict the freedom to set the sampling periods in the control loop. An attempt to reduce the significance of the signal delays and save to some bandwidth can be based on high values of sampling periods. Usually this solution has remarkable effects in the system performance because with higher sampling periods closed loop response capabilities are decreased. This paper p…
Fuzzy Adaptive EKF Motion Control for Nonholonomic and Underactuated Cars with Parametric and non Parametric Uncertainties
2007
A new fuzzy adaptive motion control system including on-line extended Kalman''s filter (EKF) for wheeled underactuated cars with non-holonomic constraints on the motion is presented. The presence of parametric uncertainties in the kinematics and in the dynamics is treated using suitable differential adaptation laws. We merge adaptive control with fuzzy inference system. By using fuzzy system, the parameters of the kinematical controller are functions of the lateral, longitudinal and orientation errors of the motion. In this way we have a robust control system where the dynamics of the motion errors is with lower time response than the adaptive control without fuzzy. Also Lyapunov''s stabili…
Stability and Noises Evaluation of Fuzzy Kalman UAV Navigation System.
2009
In this paper a new Fuzzy/Kalman navigation system for Unmanned Aerial Vehicles (UAV) is presented. A closed loop velocity Fuzzy navigation system is proposed for stabilizing the UAV in a reference trajectory generated dynamically and for obtaining a forward velocity command. The Kalman's filter (KF) is included in the feedback line of the fuzzy control system to filter the internal noise of the sensors and to evaluate the external noise due to possible perturbations of the nominal motion. The efficiency of the navigation system has been shown through experimental tests in a Matlab environment.
Observation and identification tools for non-linear systems: application to a fluid catalytic cracker
2005
In this paper we recall general methodologies we developed for observation and identification in non-linear systems theory, and we show how they can be applied to real practical problems. In a previous paper, we introduced a filter which is intermediate between the extended Kalman filter in its standard version and its high-gain version, and we applied it to certain observation problems. But we were missing some important cases. Here, we show how to treat these cases. We also apply the same technique in the context of our identifiability theory. As non-academic illustrations, we treat a problem of observation and a problem of identification, for a fluid catalytic cracker (FCC). This FCC uni…
Descriptor-type Robust Kalman Filter and Neural Adaptive Speed Estimation Scheme for Sensorless Control of Induction Motor Drive Systems
2012
Abstract This paper deals with robust estimation of speed and rotor flux for sensorless control of motion control systems which use induction motors as actuators. Due to the observability lack of five and six order Extended Kalman Filters, speed is here estimated by means of a Total Least Square algorithm with Neural Adaptive mechanism. This allows the use of a fourth-order Kalman Filter for estimating rotor flux and to filter stator currents. To cope with motor-load parameter variations, a descriptor-type robust Kalman Filter is designed taking explicitly into account these variations. The descriptor-type structure allows direct translation of parameter variations into variations of the co…
Robustness Analysis of an Extended Kalman Filter for Sensorless Control of Induction Motors
2010
This paper deals with robustness analysis of Extended Kalman Filters (EKFs) for sensorless motion control of induction motors. Analysis is carried out by means of simulation experiments considering a conventional EKF, in which system and measurement noise covariance matrices are constant, and an adaptive EKF in which the system noise covariance matrix is updated on-line using a PID-type algorithm driven by the stator current estimation errors.
Velocity sensorless control of uncertain load using RKF tuned with an evolutionary algorithm and mu-analysis
2010
Abstract In case of a velocity control scheme for a load directly driven by an actuator, large variations of its parameters are problematic due to possible instability and large variations of the final performances. This performances are then decreasing if a sensorless control is implemented due to cost, reliability or application constraints. This paper proposes solutions to quickly and accurately tune an observer with a lower computer time consumption and lower conception time. A previous calculated state feedback is used as base for a Kalman filter with special noise matrices. An evolutionary algorithm optimizes the observers degrees of freedom all over the variations. The mu-analysis th…
Improved GNSS positioning exploiting a vehicular P2P infrastructure
2010
This paper considers the possibility to exploit external altitude measurements to improve the performance of a Kalman based GNSS receiver. The altitude measurements are provided by means of a peer to peer network, that is supposed to be based on the evolution of the 802.11 standard for the vehicular environment, namely the WAVE (802.11p). The performance of such a system are investigated for different characteristics of the aiding measurement and for a different number and disposals of the aiding peers. The aiding measurement is obtained starting from the altitude measurements that the other peers in the network send to the aided user. The experiments highlight the need for a parameter that…