On-line actuator state monitoring of a MIMO bioprocess
抄録
<p>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.</p>
収録刊行物
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- Control Conference
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Control Conference 2 837-842, 2004-07
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詳細情報 詳細情報について
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- CRID
- 1050283687826349824
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- NII論文ID
- 120002305039
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- 本文言語コード
- en
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- 資料種別
- journal article
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- データソース種別
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- IRDB
- CiNii Articles