A MIT-Based Nonlinear Adaptive Set-Membership Filter for the Ellipsoidal Estimation of Mobile Robots' States

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	A MIT-Based Nonlinear Adaptive Set-Membership Filter for the Ellipsoidal Estimation of Mobile Robots' States
	Song DL(宋大雷); Wu C(吴冲); Qi JT(齐俊桐); Han JD(韩建达); Wang TR(王天然)
刊名	INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS
	2012
卷号	9 期号:0 页码:1-12
关键词	MIT-Rule ESMF Adaptive Estimation Mobile Robot
ISSN号	1729-8806
通讯作者	宋大雷
产权排序	1
中文摘要	The adaptive extended set-membership filter (AESMF) for nonlinear ellipsoidal estimation suffers a mismatch between real process noise and its set boundaries, which may result in unstable estimation. In this paper, a MIT method-based adaptive set-membership filter, for the optimization of the set boundaries of process noise, is developed and applied to the nonlinear joint estimation of both time-varying states and parameters. As a result of using the proposed MIT-AESMF, the estimation effectiveness and boundary accuracy of traditional AESMF are substantially improved. Simulation results have shown the efficiency and robustness of the proposed method.
WOS标题词	Science & Technology ; Technology
类目[WOS]	Robotics
研究领域[WOS]	Robotics
关键词[WOS]	DYNAMICAL-SYSTEMS ; UNCERTAINTY
收录类别	SCI ; EI
资助信息	This work was supported by The National Natural Science Foundation of China under Grant: 61035005, 61273025 and 61203334; National Key Technology R&D Program under Grant: 2011BAD20B07; National High Technology Research and Development Program (863) under Grant: 2012AA041501
语种	英语
WOS记录号	WOS:000309963500002
公开日期	2012-11-29
内容类型	期刊论文
源URL	[http://ir.sia.cn/handle/173321/10125]
专题	沈阳自动化研究所_机器人学研究室
推荐引用方式 GB/T 7714	Song DL,Wu C,Qi JT,et al. A MIT-Based Nonlinear Adaptive Set-Membership Filter for the Ellipsoidal Estimation of Mobile Robots' States[J]. INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS,2012,9(0):1-12.
APA	Song DL,Wu C,Qi JT,Han JD,&Wang TR.(2012).A MIT-Based Nonlinear Adaptive Set-Membership Filter for the Ellipsoidal Estimation of Mobile Robots' States.INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS,9(0),1-12.
MLA	Song DL,et al."A MIT-Based Nonlinear Adaptive Set-Membership Filter for the Ellipsoidal Estimation of Mobile Robots' States".INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS 9.0(2012):1-12.