Position estimation for planar servo mechanical systems based on sensor data fusion

Guangyue Xue, Jingkai Wang, Qiang Chen, Xuemei Ren

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

To estimate the position of planar servo mechanical systems(PSMS), a novel sensor fusion approach based on distributed particle filter (PF) is presented to fuse the measurements from an accelerometer and the motor encoders. As local filter, the PF is improved both by adopting proposal distribution and by choosing the memetic compact differential evolution (McDE) re-sampling. Comparative experiment studies confirm the validity of the proposed fusion method.

Original languageEnglish
Title of host publicationProceedings of 2017 9th International Conference On Modelling, Identification and Control, ICMIC 2017
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages488-493
Number of pages6
ISBN (Electronic)9781509065738
DOIs
Publication statusPublished - 2 Jul 2017
Event9th International Conference on Modelling, Identification and Control, ICMIC 2017 - Kunming, China
Duration: 10 Jul 201712 Jul 2017

Publication series

NameProceedings of 2017 9th International Conference On Modelling, Identification and Control, ICMIC 2017
Volume2018-March

Conference

Conference9th International Conference on Modelling, Identification and Control, ICMIC 2017
Country/TerritoryChina
CityKunming
Period10/07/1712/07/17

Keywords

  • Memetic compact differential evolution
  • Particle filter
  • Planar servo mechanical systems
  • Sensor fusion

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