Data-Based Control for Humanoid Robots Using Support Vector Regression, Fuzzy Logic, and Cubature Kalman Filter

نویسندگان
چکیده

برای دانلود رایگان متن کامل این مقاله و بیش از 32 میلیون مقاله دیگر ابتدا ثبت نام کنید

اگر عضو سایت هستید لطفا وارد حساب کاربری خود شوید

منابع مشابه

Fuzzy Adaptive Cubature Kalman Filter for Integrated Navigation Systems

This paper presents a sensor fusion method based on the combination of cubature Kalman filter (CKF) and fuzzy logic adaptive system (FLAS) for the integrated navigation systems, such as the GPS/INS (Global Positioning System/inertial navigation system) integration. The third-degree spherical-radial cubature rule applied in the CKF has been employed to avoid the numerically instability in the sy...

متن کامل

Cubature quadrature Kalman filter

In this correspondence, the authors develop a novel method based on spherical radial cubature and Gauss–Laguerre quadrature rule for non-linear state estimation problems. The proposed filter, referred as cubature quadrature Kalman filter (CQKF) would be able to overcome inherent disadvantages associated with the earlier reported cubature Kalman filter (CKF). The theory and formulation of CQKF h...

متن کامل

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...

متن کامل

High-degree cubature Kalman filter

The cubature Kalman filter (CKF), which is based on the third degree spherical–radial cubature rule, is numericallymore stable than the unscented Kalman filter (UKF) but less accurate than theGauss–Hermite quadrature filter (GHQF). To improve the performance of the CKF, a new class of CKFs with arbitrary degrees of accuracy in computing the spherical and radial integrals is proposed. The third-...

متن کامل

Modeling of vision based robot formation control using fuzzy logic controller and extended Kalman filter

Abstract A modeling of vision based robot formation control system using fuzzy logic controller and extended Kalman filter is presented in this paper. The main problems affecting formation controls using fuzzy logic controller and vision based robots are: a robot’s position in a formation need to be maintained, how to develop the membership function in order to obtain the optimal fuzzy system c...

متن کامل

ذخیره در منابع من


  با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید

ژورنال

عنوان ژورنال: Mathematical Problems in Engineering

سال: 2016

ISSN: 1024-123X,1563-5147

DOI: 10.1155/2016/1984634