A Fuzzy Unscented Kalman Filter in the Adaptive Control System of a Drive System with a Flexible Joint
Krzysztof Szabat, Karol Wróbel, Krzysztof Dróżdż, Dariusz Janiszewski, Tomasz Pajchrowski, Adrian Wójcik
Abstract
This paper presents an application of an Unscented- and a Fuzzy Unscented- Kalman Filter (UKF and FUKF) to the estimation of mechanical state variables and parameters in a drive system with an elastic connection. The cascade control structure incorporating an IP controller supported by two additional feedbacks and suitable adaptation mechanism is investigated in this study. The coefficients of the control structure are retuned on the basis of the value of mechanical parameters estimated by filter. The effectiveness of the proposed approaches (classical and fuzzy) is researched through simulation and experimental tests.
Topics & Concepts
Control theory (sociology)Kalman filterCascadeFuzzy logicController (irrigation)Extended Kalman filterControl engineeringFuzzy control systemComputer scienceUnscented transformEngineeringInvariant extended Kalman filterControl (management)Artificial intelligenceAgronomyChemical engineeringBiologyControl Systems in EngineeringIterative Learning Control SystemsHydraulic and Pneumatic Systems