Application of Multilayer Kalman Filter to a Flexible Drive System

A Kalman filter application to a spectral wave model

A sequential time dependent data assimilation scheme based on the Kalman filter is applied to a spectral wave model. Usually, the first guess covariance matrices used in optimal interpolation schemes are exponential spreading functions, which remain constant. In the present work the first guess correlation errors evolve in time according to the dynamic constraints of the wave model. A system er...

Nonlinear H Control for Uncertain Flexible Joint Robots with Unscented Kalman Filter

Todays, use of combination of two or more methods was considered to control of systems. In this paper ispresented how to design of a nonlinear H∞ (NL-H∞) controller for flexible joint robot (FJR) based on boundedUKF state estimator. The UKF has more advantages to standard EKF such as low bios and no need toderivations. In this research, based on spong primary model for FJRs, same as rigid robot...

The Particle Filter and Extended Kalman Filter methods for the structural system identification considering various uncertainties

Structural system identification using recursive methods has been a research direction of increasing interest in recent decades. The two prominent methods, including the Extended Kalman Filter (EKF) and the Particle Filter (PF), also known as the Sequential Monte Carlo (SMC), are advantageous in this field. In this study, the system identification of a shake table test of a 4-story steel struct...

Tuning of Extended Kalman Filter using Self-adaptive Differential Evolution Algorithm for Sensorless Permanent Magnet Synchronous Motor Drive

In this paper, a novel method based on a combination of Extended Kalman Filter (EKF) with Self-adaptive Differential Evolution (SaDE) algorithm to estimate rotor position, speed and machine states for a Permanent Magnet Synchronous Motor (PMSM) is proposed. In the proposed method, as a first step SaDE algorithm is used to tune the noise covariance matrices of state noise and measurement noise i...

The Application of the Kalman Filter to Some Astrodynamical Problems