State estimator design for a single degree of freedom cable-actuated system

DOI10.1016/J.JFRANKLIN.2016.08.015zbMath1349.93376OpenAlexW2514549633MaRDI QIDQ344677

James Richard Forbes, Ryan James Caverly

Publication date: 24 November 2016

Published in: Journal of the Franklin Institute (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1016/j.jfranklin.2016.08.015

zbMATH Keywords

state estimationnonlinear equationsdiscrete time systemextended Kalman filter (EKF)flexible cable-actuated systemproportional-derivative-based controllerunscented Kalman filter (UKF)

Mathematics Subject Classification ID

Filtering in stochastic control theory (93E11) Nonlinear systems in control theory (93C10) Application models in control theory (93C95) Design techniques (robust design, computer-aided design, etc.) (93B51) Estimation and detection in stochastic control theory (93E10)

Cites Work

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• The robotic lumbar spine: dynamics and feedback linearization control
• A new cable-based parallel robot with three degrees of freedom
• On the Dynamics and Control of Flexible Multibody Systems with Closed Loops
• Planar Translational Cable-Direct-Driven Robots
• A new 6‐DOF parallel robotic structure actuated by wires: The WiRo‐6.3

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