Improved force identification with augmented Kalman filter based on the sparse constraint
Mechanical Systems and Signal Processing(2022)
摘要
•Augmented Kalman filter based on sparse constraint theory is proposed.•Force estimation is transformed into constrained optimization based on the l1-norm.•Drift problem in the force estimation is solved in the proposed method.•Robustness and identification accuracy are improved by the sparse constraint.•New augmented state-space model is developed using the precise integration method.
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关键词
Force identification,Augmented Kalman filter,Sparse constraint,Pseudo- measurement equation,Precise integration
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