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Stability Of The Adaptive Fading Extended Kalman Filter With The Matrix Forgetting Factor, Cenker Bi̇çer, Esi̇n Köksal Babacan, Levent Özbek
Stability Of The Adaptive Fading Extended Kalman Filter With The Matrix Forgetting Factor, Cenker Bi̇çer, Esi̇n Köksal Babacan, Levent Özbek
Turkish Journal of Electrical Engineering and Computer Sciences
The extended Kalman filter is extensively used in nonlinear state estimation problems. As long as the system characteristics are correctly known, the extended Kalman filter gives the best performance. However, when the system information is partially known or incorrect, the extended Kalman filter may diverge or give biased estimates. An extensive number of works has been published to improve the performance of the extended Kalman filter. Many researchers have proposed the introduction of a forgetting factor, both into the Kalman filter and the extended Kalman filter, to improve the performance. However, there are 2 fundamental problems with this approach: the …
Design Parameters And Uncertainty Bound Estimation Functions For Adaptive-Robust Control Of Robot Manipulators, Recep Burkan
Design Parameters And Uncertainty Bound Estimation Functions For Adaptive-Robust Control Of Robot Manipulators, Recep Burkan
Turkish Journal of Electrical Engineering and Computer Sciences
In this paper, a parameter and uncertainty bound estimation functions for adaptive-robust control of robot manipulators are developed. A Lyapunov function is defined and parameters and uncertainty bound estimation functions are developed based on the Lyapunov function. Thus, stability of an uncertain system is guaranteed and uniform boundedness of the tracking error is achieved. As distinct from previous parameter and bound estimation laws, the parameters and uncertainty bounds are updated as a function of a combination of trigonometric function depending on robot parameters and tracking error. Based on the same Lyapunov function, a robust control law is also defined and …