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Control Loop Sensor Calibration Using Neural Networks for Robotic Control英文文献资料.doc

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Control Loop Sensor Calibration Using Neural Networks for Robotic Control英文文献资料

HindawiPublishingCorporation JournalofRobotics Volume2011,ArticleID845685,8pages doi:10.1155/2011/845685 ResearchArticle ControlLoopSensorCalibrationUsingNeuralNetworksfor RoboticControl KathleenA.Kramer andStephenC.Stubberud 1 2 1 2 DepartmentofEngineering,UniversityofSanDiego,5998Alcal′aPark,SanDiego,CA92110,USA AdvancedPrograms,OakridgeTechnology,DelMar,CA92014,USA CorrespondenceshouldbeaddressedtoKathleenA.Kramer,kramer@ Received15July2011;Accepted8November2011 AcademicEditor:IvoBukovsky Copyright?2011K.A.KramerandS.C.Stubberud. This is an open access article distributed under the Creative Commons AttributionLicense,whichpermitsunrestricteduse,distribution,andreproductioninanymedium,providedtheoriginalworkis properlycited. Whethersensormodel’sinaccuraciesarearesultofpoorinitialmodelingorfromsensordamageordrift,thee?ectscanbejust asdetrimental.Sensormodelingerrorsresultinpoorstateestimation.This,inturn,cancauseacontrolsystemrelyingupon thesensor’smeasurementstobecomeunstable,suchasinroboticswherethecontrolsystemisappliedtoallowautonomous navigation.AtechniquereferredtoasaneuralextendedKalman?lter(NEKF)isdevelopedtoprovidebothstateestimationina controlloopandtolearnthedi?erencebetweenthetruesensordynamicsandthesensormodel.Thetechniquerequiresmultiple sensorsonthecontrolsystemsothattheproperlyoperatingandmodeledsensorscanbeusedastruth.TheNEKFtrainsaneural networkon-lineusingthesameresidualsasthestateestimation.Theresultingsensormodelcanthenbereincorporatedfullyinto thesystemtoprovidetheaddedestimationcapabilityandredundancy. 1.Introduction withnavigationsystemswheremultipleinertialnavigation systems(INSs)areemployedorforsafetyconsiderationsto provideback-upincaseoffailure[3].Sometimesmultiple sensorsareemployedbecausemoreaccuratesensorscannot providemeasurementsatthenecessaryupdaterates.Insuch cases,lessaccuratesensorsmightbeusedtoprovidereports at the sampling time between the measurement reports of the more accurate system. Finall