Title :
Fusion of large-time-delay measurement with non-delay measurement based on upper-bound scheme
Author :
Nguyen, Binh Minh ; Fujimoto, Hiroshi ; Hori, Yoichi
Author_Institution :
Dept. of Adv. Energy, Univ. of Tokyo, Tokyo, Japan
Abstract :
This paper describes a filtering method for state estimation using the fusion of large-time-delay and non-delay measurements. To overcome the difficulty in covariance computation and keep the affordable computational cost, the norm-bound scheme is applied to obtain the estimation gain. The effectiveness of the proposed algorithm is verified through experiment with a visual servo system.
Keywords :
covariance analysis; delays; estimation theory; filtering theory; state estimation; time measurement; covariance computation; filtering method; large-time-delay measurement; nondelay measurement; norm-bound scheme; state estimation; upper-bound scheme; visual servosystem; Covariance matrices; Current measurement; Delay effects; Delays; Estimation; Kalman filters; Servomotors; norm-bound; state estimation; time delay;
Conference_Titel :
Mechatronics (ICM), 2015 IEEE International Conference on
Conference_Location :
Nagoya
DOI :
10.1109/ICMECH.2015.7083978
