Abstract
The paper introduces the Active Observer (AOB) algorithm in the framework of Kalman filters. The AOB reformulates the Kalman filter to accomplish model-reference adaptive control based on: (1) A desired closed loop system. (2) An extra equation to estimate an equivalent disturbance referred to the system input. An active state is introduced to compensate unmodeled terms, providing a feedforward compensation action. (3) Stochastic design of the Kalman matrices. Stability analysis with model errors is discussed. An example of robot force control with an external and unknown nonlinear disturbance is presented (SISO system). Another example of model-matching control for steer-by-wire (SBW) vehicles with underactuated structure is discussed (MIMO system).
Similar content being viewed by others
References
Aström, K.J., Wittenmark, B.: Computer Controlled Systems: Theory and Design. Prentice Hall, NJ (1997)
Bajcinca, N., Cortesão, R., Hauschild, M.: Robust control for steer-by-wire vehicles. Auton. Robots 19 193–214 (2005)
Bozic, S.M.: Digital and Kalman Filtering. Edward Arnold, London (1979)
Chen, B., Lin, Z., Liu, K.: Robust and perfect tracking of discrete time systems. Automatica 38(2), 293–299 (2002)
Chen, X., Komada, S., Fukuda, T.: Design of a nonlinear disturbance observer. IEEE Trans. Ind. Electron. 47(2), 429–435 (2000)
Chu, D., Mehrmann, V.: Disturbance decoupling for descriptor systems by state feedback. SIAM J. Control Optim. 38(6), 1830–1858 (2000)
Coelho, P., Nunes, U.: Path-following control of mobile robots in presence of uncertainties. IEEE Trans. Robot. 21(2), 252–261 (2005)
Commault, C., Dion, J., Hovelaque, V.: A geometric approach for structured systems – application to the disturbance decoupling problem. Automatica 33(3), 403–409 (1997)
Cortesão, R., Bajcinca, N.: Model-matching control for steer-by-wire vehicles with under-actuated structure. In: Proc. of the Int. Conf. on Intelligent Robots and Systems (IROS), Japan, pp. 1148–1153 (2004)
Cortesão, R., Koeppe, R., Nunes, U., Hirzinger, G.: Force control with a Kalman active observer applied in a robotic skill transfer system. Int. J. Machine Intel. Robot. Control (MIROC). 2(2), 59–68 (2000), Special Issue on Force Control of Advanced Robotic Systems
Cortesão, R., Koeppe, R., Nunes, U., Hirzinger, G.: Compliant motion control with stochastic active observers. In: Proc. of the Int. Conf. on Intelligent Robots and Systems (IROS), USA, pp. 1876–1881 (2001)
Cortesão, R., Koeppe, R., Nunes, U., Hirzinger, G.: Data fusion for robotic assembly tasks based on human skills. IEEE Trans. Robot. 20(6), 941–952 (2004)
Cortesão, R., Park, J., Khatib, O.: Real-time adaptive control for haptic telemanipulation with Kalman active observers. IEEE Trans. Robot. 22(5) 987–999 (October 2006)
Doyle, J., Stein, G.: Robustness with observers. IEEE Trans. Automat. Contr. 24(4), 607–611 (1979)
Estrada, M., Malabre, M.: Necessary and sufficient conditions for disturbance decoupling with stability using PID control laws. IEEE Trans. Automat. Contr. 44(6), 1311–1315 (1999)
Maia, R., Cortesão, R., Nunes, U., Silva, V., Fonseca, F.: Robust low level motion control of a WMR with stochastic active observers. In: Proc. of the Int. Conf. on Advanced Robotics, Portugal, pp. 876–882 (2003)
Oda, N.: Distributed robust motion controller for redundant manipulator using disturbance observer. J. Robot. Mechatronics 13(5), 464–471 (2001)
Park, J., Cortesão, R., Khatib, O.: Multi-contact compliant motion control for robotic manipulators. In: Proc. of the IEEE Int. Conf. on Robotics and Automation, (ICRA), USA, pp. 4789–4794 (2004)
Park, J., Khatib, O.: Multi-link multi-contact force control for manipulators. In: Proc. of the Int. Conf. on Robotics and Automation (ICRA), Spain, pp. 3624–3629 (2005)
De Schutter, J.: Improved force control laws for advanced tracking applications. In: Proc. of the Int. Conf. on Robotics and Automation (ICRA), USA, pp. 1497–1502 (1988)
Vaccaro, R.: Digital Control: A State-Space Approach. McGraw-Hill, New York (1995)
Author information
Authors and Affiliations
Corresponding author
Rights and permissions
About this article
Cite this article
Cortesão, R. On Kalman Active Observers. J Intell Robot Syst 48, 131–155 (2007). https://doi.org/10.1007/s10846-006-9045-5
Received:
Accepted:
Published:
Issue Date:
DOI: https://doi.org/10.1007/s10846-006-9045-5