DocumentCode
1974890
Title
The PID control based on nonlinear adaptive Kalman filter
Author
Jianping, Xu ; Rongqiang, Guan ; Junyi, Liu
Author_Institution
Jilin Teachers´´ Inst. of Technol. & Eng. Changchun, Changchun, China
fYear
2011
fDate
16-18 Sept. 2011
Firstpage
2722
Lastpage
2725
Abstract
This paper focuses on a simulation research by way of combining nonlinear adaptive Kalman filter with PID control, aiming at resolving the space attitude and the PID control system for an underwater robot. The results reveal that the nonlinear adaptive Kalman filter, compared with general Kalman filter PID control system, can inhibit white noise pollution more effectively. Thus, the control effect has been improved.
Keywords
adaptive Kalman filters; attitude control; mobile robots; three-term control; underwater vehicles; general Kalman filter PID control system; noise pollution; nonlinear adaptive Kalman filter; simulation research; space attitude; underwater robot; Adaptation models; Control systems; Kalman filters; Mathematical model; Noise; Robots; Simulation; Kalman filter; PID control; adaptive; nonlinear;
fLanguage
English
Publisher
ieee
Conference_Titel
Electrical and Control Engineering (ICECE), 2011 International Conference on
Conference_Location
Yichang
Print_ISBN
978-1-4244-8162-0
Type
conf
DOI
10.1109/ICECENG.2011.6057138
Filename
6057138
Link To Document