Highly Nonlinear Flexible Manipulator State Estimation Using the Extended and the Unscented Kalman Filters

摘要

This paper proposes and compares the state estimation scheme and performance of the Extended Kalman Filter and the Unscented Kalman Filter. A highly nonlinear flexible manipulator is targeted by the study to evaluate the effectiveness and robustness of the proposed filters facing an online accurate estimation problem. An Euler-Bernoulli cantilever beam models the manipulator, and the elastic movement is approximated using the assumed modes method The Hamilton's principle yields the system nonlinear equations. This article compares, via the included numerical simulation results, the efficiency of the state estimate reflected by the estimation error and the time required by the filters to converge.