基于扩展卡尔曼滤波的倒立摆飞行鲁棒控制

2015 IEEE Signal Processing and Signal Processing Education Workshop (SP/SPE) Pub Date : 2015-08-01 DOI:10.1109/DSP-SPE.2015.7369535

D. S. Maughan, Ishmaal Erekson, Rajnikant Sharma

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引用次数: 4

摘要

我们建议使用扩展卡尔曼滤波器(EKF)进行可靠的状态估计，以便在保持安全的情况下对飞行的倒立摆尖端进行高级控制。我们展示了EKF与精确模型相结合的能力，以克服用于定位的多摄像机运动捕捉系统的不良或错误数据。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Using Extended Kalman Filter for robust control of a flying inverted pendulum

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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2015 IEEE Signal Processing and Signal Processing Education Workshop (SP/SPE)

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