| ID | 30045 |
| FullText URL | |
| Author |
Deng, Mingcong
Inoue, Akira
Ishikawa, Kazushi
Hirashima, Yoichi
|
| Abstract | In the actuator state monitoring of a time varying human multi-joint arm dynamics, typical issues are compounded by problems related to the uncertainty factor consisting of measurement noises and modeling error of the rigid body dynamics. In general, the uncertainty factor is under the case of non-Gaussian noises. In this paper, for improving the monitoring, a robust filter system based on a score function approach is modified. The score function is associated with U_D factorization algorithm. The selection of the shape parameter in the monitoring filter is discussed. Examples of the proposed method for an experiment-based human arm model show better accuracy and robustness compared with standard Kalman filter. |
| Keywords | MIMO systems
actuators
condition monitoring
filtering theory
physiological models
time-varying systems
|
| Note | Published with permission from the copyright holder. This is the institute's copy, as published in Control Conference, 2004. 5th Asian, 20-23 July 2004, Volume 2, Pages 837-842.
Publisher URL:http://ieeexplore.ieee.org/search/wrapper.jsp?arnumber=1426757 Copyright © 2004 IEEE. All rights reserved. |
| Published Date | 2004-7
|
| Publication Title |
Control Conference
|
| Volume | volume2
|
| Start Page | 837
|
| End Page | 842
|
| Content Type |
Journal Article
|
| language |
English
|
| Refereed |
True
|
| Submission Path | industrial_engineering/124
|
