کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
700410 890859 2007 8 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
Benefits of acceleration measurement in velocity estimation and motion control
موضوعات مرتبط
مهندسی و علوم پایه سایر رشته های مهندسی مهندسی هوافضا
پیش نمایش صفحه اول مقاله
Benefits of acceleration measurement in velocity estimation and motion control
چکیده انگلیسی

The purpose of this work is to investigate the performance of the kinematic Kalman filter (KKF), an accelerometer-assisted velocity estimation method. The most attractive feature of KKF is that it is immune to modeling uncertainties and parameter variations. Conventional velocity estimation methods are analyzed and compared to KKF. It is shown that KKF can perform very well even with low-resolution encoders. A reliable and cost-effective method of measuring angular acceleration is suggested using MEMS accelerometers. Experimental results with low-resolution encoders confirm the superiority of KKF.

ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Control Engineering Practice - Volume 15, Issue 3, March 2007, Pages 325–332
نویسندگان
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