Journal of the Korean Society for Precision Engineering (한국정밀공학회지)

Korean Society for Precision Engineering (한국정밀공학회)
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Parameter Estimation of 2-DOF System Based on Unscented Kalman Filter

UKF 기반 2-자유도 진자 시스템의 파라미터 추정

  • Seung, Ji-Hoon (School of Electronic Engineering, Chonbuk National Univ.) ;
  • Kim, Tae-Yeong (School of Electronic Engineering, Chonbuk National Univ.) ;
  • Atiya, Amir (Department of Electronics Engineering, Cairo University) ;
  • Parlos, Alexander (Department of Mechanical Engineering, Texas A&M University) ;
  • Chong, Kil-To (School of Electronic Engineering, Chonbuk National Univ.)
  • Received : 2011.12.29
  • Accepted : 2012.06.28
  • Published : 2012.10.01
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Abstract

In this paper, the states and parameters in a dynamic system are estimated by applying an Unscented Kalman Filter (UKF). The UKF is widely used in various fields such as sensor fusion, trajectory estimation, and learning of Neural Network weights. These estimations are necessary and important in determining the stability of a mobile system, monitoring, and predictions. However, conventional approaches are difficult to estimate based on the experimental data, due to properties of non-linearity and measurement noises. Therefore, in this paper, UKF is applied in estimating the states and parameters needed. An experimental dynamic system has been set up for obtaining data and the experimental data is collected for parameter estimation. The measurement noises are primarily reduced by applying the Low Pass Filter (LPF). Given the simulation results, the estimated error rate is 39 percent more efficient than the results obtained using the Least Square Method (LSM). Secondly, the estimated parameters have an average convergence period of four seconds.

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References

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