State and Force Observers Based on Multibody Models and the Indirect Kalman Filter

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http://hdl.handle.net/2183/41220
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- Investigación (EPEF) [587]
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State and Force Observers Based on Multibody Models and the Indirect Kalman FilterFecha
2018-06Cita bibliográfica
E. Sanjurjo, D. Dopico, A. Luaces, M.Á. Naya, State and force observers based on multibody models and the indirect Kalman filter, Mechanical Systems and Signal Processing 106 (2018) 210–228. https://doi.org/10.1016/j.ymssp.2017.12.041
Resumen
[Abstract] The aim of this work is to present two new methods to provide state observers by combining multibody simulations with indirect extended Kalman filters. One of the methods presented provides also input force estimation. The observers have been applied to two mechanism with four different sensor configurations, and compared to other multibody-based observers found in the literature to evaluate their behavior, namely, the unscented Kalman filter (UKF), and the indirect extended Kalman filter with simplified Jacobians (errorEKF).
The new methods have some more computational cost than the errorEKF, but still much less than the UKF. Regarding their accuracy, both are better than the errorEKF. The method with input force estimation outperforms also the UKF, while the method without force estimation achieves results almost identical to those of the UKF.
All the methods have been implemented as a reusable MATLAB® toolkit which has been released as Open Source in https://github.com/MBDS/mbde-matlab.
Palabras clave
Multibody dynamics
Kalman filter
State observer
Force estimation
Kalman filter
State observer
Force estimation
Descripción
Accepted manuscript
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CC-BY-NC-ND 4.0 license https://creativecommons.org/licenses/by-nc-nd/4.0/
ISSN
1096-1216