Title :
Estimation of rotary inverted pendulum by using the unscented Kalman filter - estimation of the initial state -
Author :
Zheng, Min ; Ikeda, Kenji ; Shimomura, Takao
Author_Institution :
Univ. of Tokushima, Tokushima
Abstract :
This paper proposes a continuous-time model estimation method by using the unscented Kalman filter (UKF) from the sampled I/O data, in which the initial state as well as the plant parameter are estimated. The initial state is estimated based on a backward system of the plant. The effectiveness is demonstrated by using the rotary inverted pendulum (RIP) to estimate the initial state and the parameter of a continuous-time nonlinear system.
Keywords :
Kalman filters; continuous time systems; estimation theory; nonlinear systems; parameter estimation; pendulums; continuous-time model estimation method; continuous-time nonlinear system; rotary inverted pendulum; unscented Kalman filter; Electronic mail; Jacobian matrices; Nonlinear systems; Numerical models; Parameter estimation; Random variables; Sampling methods; State estimation; Statistics; System identification; Rotary Inverted Pendulum; Unscented Kalman Filter; backward system; continuous-time nonlinear system; parameter estimation;
Conference_Titel :
SICE, 2007 Annual Conference
Conference_Location :
Takamatsu
Print_ISBN :
978-4-907764-27-2
Electronic_ISBN :
978-4-907764-27-2
DOI :
10.1109/SICE.2007.4421252
