Position Estimation for Planar Servo Mechanical Systems Based on Sensor Data Fusion

被引：0
|
作者：
Xue, Guangyue [1 ]
Wang, Jingkai [2 ]
Chen, Qiang [3 ]
Ren, Xuemei [4 ]
机构：
[1] China Acad Civil Aviat Sci & Technol, Beijing 100028, Peoples R China
[2] Beihang Univ, Sch Instrumentat Sci & Optoelect Engn, Beijing, Peoples R China
[3] Zhejiang Univ Technol, Coll Informat Engn, Hangzhou, Zhejiang, Peoples R China
[4] Beijing Inst Technol, Sch Automat, 5 South Zhongguancun St, Beijing 100081, Peoples R China
来源：
2017 9TH INTERNATIONAL CONFERENCE ON MODELLING, IDENTIFICATION AND CONTROL (ICMIC 2017) | 2017年
基金：
中国国家自然科学基金;
关键词：
Sensor fusion; Particle filter; Planar servo mechanical systems; Memetic compact differential evolution; DIFFERENTIAL EVOLUTION; PARTICLE;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
To estimate the position of planar servo mechanical systems(PSMS), a novel sensor fusion approach based on distributed particle filter (PF) is presented to fuse the measurements from an accelerometer and the motor encoders. As local filter, the PF is improved both by adopting proposal distribution and by choosing the memetic compact differential evolution (McDE) re-sampling. Comparative experiment studies confirm the validity of the proposed fusion method.
引用
收藏
页码：488 / 493
页数：6
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