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This paper investigates the multi-sensor information fusion estimation problem for sensor networks with nonuniform sampling rates. The measurements are sampled asynchronously by the various sensors with nonuniform sampling rates. Then, each sensor in the network acts also as an estimator and collects measurements from its neighbors to generate estimates by applying a distributed measurement fusion...
Peg-in-Hole actions play an important role in industrial assembly. In this paper, we present a system which performs such actions after learning by human demonstration. Strategies for getting robust human-demonstrated PiH trajectories are investigated, and a number of PiH experiments are conducted to verify the performance of the proposed approach. The results show that our approach leads to a high...
A new approach to sensorless speed estimation is derived in the unbiased minimum variance sense by applying the Unknown Input Kalman Filter (UIKF) in the networked environment. The recursive Networked Unknown Sensor Input Extend Kalman Filter (NUSIEKF) is developed to deal with the sensorless speed estimation problem for permanent magnet synchronous motor (PMSM) in the existence of packet dropout...
The capacity character of lithium-ion battery is one of the most important performance parameters, which need to be accurate measurement for the safety and efficiency usage. In this paper, the regularity that battery capacity parameter changes with working temperature and charge or discharge rate has been analyzed, and the least squares support vector machine based battery capacity prediction method...
This paper develops a new adaptive unscented Kalman filter based on covariance-matching technique for nonlinear system with unknown statistical characteristics of the noises. The variances of process noise and measurement noise can be estimated online simultaneously by using information of innovation and residual sequence, and the accuracy of UKF will be improved. Furthermore, we show that the statistical...
In order to effectively reduce the volume, mass and cost of the attitude measurement unit (AMU) of the satellite, as well as to ensure that the reliability of the whole system is proper, this paper presents a hardware design method of AMU based on multiple MEMS gyroscopes. Using the modular design method, the scalability of system and the interchangeability between modules are effectively improved...
This paper is to study the linear minimum variance estimation for discrete-time singular WSN systems with multiplicative noises and additive noises. The state and the state disturbed by multiplicative noise are both included in the observation equation. A simple approach of projection theorem is proposed.
In this paper, we investigate a distributed encirclement control problem of multi-agent systems. A neighbor-based rule is used to estimate the distributed center of all targets and make all agents encircle the targets. Finally, numerical simulation results are provided to demonstrate the obtained theoretical results.
The paper aims to provide an approach to obtain a lower bound of H∞ control performance in state space. It is not involved Riccati equation and only concerns with the solution to the standard H2 Riccati equation. As a consequence, the approach can help one to narrow the optimal H∞ performance search via bisection method to a smaller range and considerably reduce the search cost. In addition, the approach...
The fault estimations problem for networked control systems with signal quantization is considered. With the logarithmic quantizer consideration, the recently developed Generalized Kalman-Yakubovich-Popov (GKYP) Lemma is exploited to formulate the quantized fault estimation filter design problem in finite frequency domain. The quantzied measurement signals are dealt with by utilizing the sector bound...
Take INS transfer alignment (trans-alignment) in powered phase of launch vehicle as example, suitability of two methods is compared in the paper. One is under launched point inertial coordinate, and the other is local geographical. Differences of state vectors choice, error-propagation, measurement model and influences of attitude maneuvers in powered phases under different coordinates are surveyed...
The cable delay-time effect of the airborne SAR and InSAR system can introduce additional error in the slant range, which in turn impacts the accuracy of the cartographic surveying. By discussing the relationship between the contrast and the error of the slant-range, we present a novel method to estimate the channel delay without needing the Ground Control Points (GCPs). This method can reliably estimate...
The nonlinearity of the dynamic and kinetic model becomes so high that ordinary attitude determination algorithms are not accurate enough when the satellite rotates fast, and sometimes the system state does not converge. In this paper, a new attitude determination algorithm is presented to deal with this situation. Based on minimal model error (MME) principle, the model error caused by the nonlinearity...
It is a key problem in Bayesian analysis about small sample how to get proper prior distribution. Aiming at the problem that how to get the prior distribution of strapdown inertial measurement unit (SIMU) successive test data, the fusion of multiple prior information is discussed in the case of hetero-populations. Bootstrap center method is used to achieve the fusion of multiple-hetero-population,...
This paper is concerned with the event-triggered μ∞ filtering problem for networked systems with fading channels. An event indicator variable is constructed and the corresponding event-triggered scheme is proposed, which is based on the relative error with respect to the measurement signal, to determine whether the measurement output is transmitted to the filter or not. The fading channels are described...
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