{"title":"Using Extended Kalman Filter for robust control of a flying inverted pendulum","authors":"D. S. Maughan, Ishmaal Erekson, Rajnikant Sharma","doi":"10.1109/DSP-SPE.2015.7369535","DOIUrl":null,"url":null,"abstract":"We propose the use of an Extended Kalman Filter (EKF) for reliable state estimation in order to permit advanced control of the tip of a flying inverted pendulum while maintaining safety. We demonstrate the capabilities of an EKF in tandem with an accurate model to overcome bad or false data from a multiple camera motion capture system used for positioning.","PeriodicalId":91992,"journal":{"name":"2015 IEEE Signal Processing and Signal Processing Education Workshop (SP/SPE)","volume":"18 1","pages":"101-106"},"PeriodicalIF":0.0000,"publicationDate":"2015-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"4","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2015 IEEE Signal Processing and Signal Processing Education Workshop (SP/SPE)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/DSP-SPE.2015.7369535","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 4
Abstract
We propose the use of an Extended Kalman Filter (EKF) for reliable state estimation in order to permit advanced control of the tip of a flying inverted pendulum while maintaining safety. We demonstrate the capabilities of an EKF in tandem with an accurate model to overcome bad or false data from a multiple camera motion capture system used for positioning.
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