Sigma-Point Filters in Robotic Applications
Sigma-Point Kalman Filters (SPKFs) are popular estimation techniques for high nonlinear system applications. The benefits of using SPKFs include (but not limited to) the following: the easiness of linearizing the nonlinear matrices statistically without the need to use the Jacobian matrices, the ability to handle more uncertainties than the Extended Kalman Filter (EKF), the ability to handle different types of noise, having less computational time than the Particle Filter (PF) and most of the adaptive techniques which makes it suitable for online applications, and having acceptable performance compared to other nonlinear estimation techniques. Therefore, SPKFs are a strong candidate for nonlinear industrial applications, i.e. robotic arm. Controlling a robotic arm is hard and challenging due to the system nature, which includes sinusoidal functions, and the dependency on the sensors’ number, quality, accuracy and functionality. SPKFs provide with a mechanism that reduces the latter issue in terms of numbers of required sensors and their sensitivity. Moreover, they could handle the nonlinearity for a certain degree. This could be used to improve the controller quality while reducing the cost. In this paper, some SPKF algorithms are applied to 4-DOF robotic arm that consists of one prismatic joint and three revolute joints (PRRR). Those include the Unscented Kalman Filter (UKF), the Cubature Kalman Filter (CKF), and the Central Differences Kalman Filter (CDKF). This study gives a study of those filters and their responses, stability, robustness, computational time, complexity and convergences in order to obtain the suitable filter for an experimental setup.
Showing items related by title, author, creator and subject.
Ambundo, T.; Oundo, J.O.; Manohar, R.; Mbithi, John (2008)Diarrhoea due to bacterial infections is a major cause of morbidity and mortality both in children and adults and hence lowers economic activity especially in developing countries. This is especially important in areas ...
Olkkonen, J.T; Olkkonen, H (Scientific Research Publishing, 2011)In this work we describe a reconstruction algorithm for zero-order hold (ZOH) waveforms measured by a parallel sam-pling scheme. In the method the ZOH signal is fed to a parallel network consisting of resistor-capacitor ...
Interference Mitigation in Satellite Personal Communication Networks Using Adaptive Antenna Arrays and Filtering Technique Iwasokun, Sunday E.; Kolawole, Michael O. (Scientific Research Publishing, 2010-10)We address the problem of interference as related to Satellite Personal Communication Networks (S-PCNs). Basic low Earth orbit (LEO) constellation is considered. The paper uses combined adaptive antenna arrays and adaptive ...