• Journal of the Korea Convergence Society
• /
• v.9 no.6
• /
• pp.53-60
• /
• 2018

In this paper, we described the unknown parameter identification using Dual Extended Kalman Filter for precise control of 2-link manipulator. 2-link manipulator has highly non-linear characteristic with changed parameter thought tasks. The parameter kinds of mass and inertia of system is important to handle with the manipulator robustly. To solve the control problem by estimating the state and unknown parameters of the system through the proposed method. In order to verify the performance of proposed method, we simulate the implementation using Matlab and compare with results of RLS algorithm. At the results, proposed method has a better performance than those of RLS and verify the estimation performance in the parameter estimation.

• Proceedings of the KIPE Conference
• /
• 2014.07a
• /
• pp.345-346
• /
• 2014

본 논문에서는 배터리팩의 안전한 충방전 관리를 위해 배터리팩의 전류 제한 지표인 state-of-power (SOP)를 구하는 알고리즘을 제안한다. 직렬 연결된 배터리 팩의 SOP를 구하기 위해서는 각 셀의 배터리 파라미터 추정 과정이 필수적이다. 이를 구현하기 위해 듀얼 확장 칼만 필터 (DEKF)를 사용하였으며 효율적인 운용을 위해 DEKF의 사용량을 줄이는 방안을 제시한다. 실험을 통해 배터리 파라미터 추정 결과를 확인하였다.

• Journal of Institute of Control, Robotics and Systems
• /
• v.19 no.2
• /
• pp.158-163
• /
• 2013

The fusion of the GPS (Global Positioning System) and DR (Dead Reckoning) is widely used for position and latitude estimation of vehicles such as a mobile robot, aerial vehicle and marine vehicle. Among the many types of aerial vehicles, grater focus is given on the quad-rotor and accuracy of the position information is becoming more important. In order to exactly estimate the position information, we propose the fusion method of GPS and Gyroscope sensor using the DEKF (Dual Extended Kalman Filter). The DEKF has an advantage of simultaneously estimating state value and a parameter of dynamical system. It can also be used even if state value is not available. In order to analyze the performance of DEKF, the computer simulation for estimating the position, the velocity and the angle in a circle trajectory of quad-rotor was done. As it can be seen from the simulation results using own proposed DEKF instead of EKF on own fusion method in the navigation of a quad-rotor gave better performance values.