A comparison study of state estimators for dynamics on the sphere

Elizabeth Gregory, Amit K. Sanyal

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Scopus citations

Abstract

The problem of state estimation for a spherical pendulum is studied by comparing the performance of a set-bounded estimation scheme designed for dynamics evolving on the sphere with that of an extended Kalman filter. The set-bounded estimator uses a global, coordinate-free description of the dynamics of a spherical pendulum, while the extended Kalman filter uses a local description of the motion using spherical coordinates. The dynamics model of the pendulum is assumed to be known; however, measurements of the pendulum state have unknown errors. The extended Kalman filter is known to be optimal for the case of zero-mean white Gaussian noise, while the set-bounded filter assumes that the measurement noise is bounded by known ellipsoidal set. Results are presented for numerical simulations in which the pendulum system has measurement errors with various statistical distributions, allowing for a direct comparison between the performances of the two state estimation strategies.

Original languageEnglish (US)
Title of host publicationASME 2012 5th Annual Dynamic Systems and Control Conference Joint with the JSME 2012 11th Motion and Vibration Conference, DSCC 2012-MOVIC 2012
Pages615-624
Number of pages10
DOIs
StatePublished - Dec 1 2012
Externally publishedYes
EventASME 2012 5th Annual Dynamic Systems and Control Conference Joint with the JSME 2012 11th Motion and Vibration Conference, DSCC 2012-MOVIC 2012 - Fort Lauderdale, FL, United States
Duration: Oct 17 2012Oct 19 2012

Publication series

NameASME 2012 5th Annual Dynamic Systems and Control Conference Joint with the JSME 2012 11th Motion and Vibration Conference, DSCC 2012-MOVIC 2012
Volume1

Other

OtherASME 2012 5th Annual Dynamic Systems and Control Conference Joint with the JSME 2012 11th Motion and Vibration Conference, DSCC 2012-MOVIC 2012
CountryUnited States
CityFort Lauderdale, FL
Period10/17/1210/19/12

ASJC Scopus subject areas

  • Control and Systems Engineering

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    Gregory, E., & Sanyal, A. K. (2012). A comparison study of state estimators for dynamics on the sphere. In ASME 2012 5th Annual Dynamic Systems and Control Conference Joint with the JSME 2012 11th Motion and Vibration Conference, DSCC 2012-MOVIC 2012 (pp. 615-624). (ASME 2012 5th Annual Dynamic Systems and Control Conference Joint with the JSME 2012 11th Motion and Vibration Conference, DSCC 2012-MOVIC 2012; Vol. 1). https://doi.org/10.1115/DSCC2012-MOVIC2012-8533