The Extended Variable Structure Filter

[+] Author and Article Information
Saeid Habibi

 University of Saskatchewan, 57 Campus Drive, Saskatoon, SK, Canada, S7N 5A9SaeiḏHabibi@engr.usask.ca

J. Dyn. Sys., Meas., Control 128(2), 341-351 (Apr 19, 2005) (11 pages) doi:10.1115/1.2194070 History: Received June 26, 2003; Revised April 19, 2005

In this paper, a new method for state estimation, referred to as the variable structure filter (VSF), is briefly reviewed. The VSF method is model based and has been formulated for its application to linear systems. It provides a means of explicitly defining the level of uncertainty in the dynamic model used by the filter, thus allowing for tradeoff between the performance indicators of the filter. This trade-off feature is not generally explicitly available in some of the more established concepts used for state estimation. In this paper, an extension to the VSF method for its application to nonlinear systems is proposed and referred to as the extended variable structure filter (EVSF). The derivation of EVSF and its application to a nonlinear robotic example is provided.

Copyright © 2006 by American Society of Mechanical Engineers
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Grahic Jump Location
Figure 1

Convergence of the estimated state trajectory due to the VSF action

Grahic Jump Location
Figure 2

Simple robotic arm

Grahic Jump Location
Figure 3

Measured angular position of the robotic arm

Grahic Jump Location
Figure 4

(a) Estimated and actual states associated with angular position and (b) estimated and actual states associated with angular velocity

Grahic Jump Location
Figure 5

(a) State estimation error associated with angular position and (b) state estimation error associated with angular velocity



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