NDLI: Sensing strategies and performance assessment for a flexible manipulator

Content Provider	IEEE Xplore Digital Library
Author	Guoli Wang Youfu Li Weiliang Xu
Copyright Year	1999
Description	Author affiliation: Dept. of Comput. Sci., Shantou Univ., Guangdong, China (Guoli Wang)
Abstract	Combination schemes of multisensor for a Kalman filter are applied and evaluated for modal estimation of a flexible manipulator. In addition to observability, the performance indices regarding the global estimate error covariance, the sensitivity to the initial estimate error, and the robustness to the round-off errors of the relative noise intensity between process and measurements, are utilized to evaluate the quality of the Kalman filters. The aim is to recognize the well-conditioned multisensor combinations for which Kalman filters achieve a specified level of design performance. The case studies for the assessment of the multisensor combination schemes are carried out for Kalman filters associated with various relative noise intensities. The useful guidelines for achieving the well-conditioned combinations of multisensors are presented.
Starting Page	892
Ending Page	897
File Size	507730
Page Count	6
File Format	PDF
ISBN	0780352769
ISSN	10915281
DOI	10.1109/IMTC.1999.776993
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1999-05-24
Publisher Place	Italy
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Kalman filters Noise measurement State estimation Observability Noise robustness Roundoff errors Guidelines State feedback Filtering Computer science
Content Type	Text
Resource Type	Article
Subject	Instrumentation Electrical and Electronic Engineering

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Mr. Siddhartha Mukherjee siddhartha@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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