Disturbance-Blocking-Based Distributed Receding Horizon Estimation of Flexible Joint Robots

doi:10.16183/j.cnki.jsjtu.2021.186

Abstract

Abstract:

Considering the state monitoring problem of flexible joint robots (FJRs) caused by the easy deformation in practice, a distributed receding horizon estimation algorithm based on disturbance blocks is proposed. Based on distributed consistent receding horizon estimation, the proposed algorithm reduces the computational amount and achieves rapidity by designing the disturbance block and applying it to the process disturbance sequence in the estimation window to reduce the variables related to optimization. By analyzing the feasibility and convergence of the proposed algorithm based on the maximum block length, the assumptions are made under which the existence of equivalent solution to the optimization problem of the algorithm is guaranteed, and the results are extended to the case that the process disturbance can be divided into arbitrary blocks. The simulation results show that the proposed algorithm can effectively shorten the computation time without affecting the estimation error compared with the algorithm without disturbance blocks.

Key words: flexible joint robots (FJRs), state estimation, receding horizon estimation, distributed estimation, disturbance blocks

CLC Number:

TP273

XU Chenhui, YU Fanghui, HE Defeng. Disturbance-Blocking-Based Distributed Receding Horizon Estimation of Flexible Joint Robots[J]. Journal of Shanghai Jiao Tong University, 2022, 56(7): 868-876.

Figures/Tables 10

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状态分量	传感器1 误差	传感器2 误差	传感器3 误差	传感器4 误差
x¹	0.2332	0.2239	0.2266	0.2324
x²	1.5689	1.2659	1.2533	1.5555
x³	0.2277	0.2402	0.2441	0.2301
x⁴	1.2241	1.4518	1.4605	1.2418

算法	传感器1 ACT/s	传感器2 ACT/s	传感器3 ACT/s	传感器4 ACT/s	RMSE
I	1.0101	1.0272	1.0222	1.0062	0.8318
II	0.4327	0.4382	0.4374	0.4373	0.8318
III	0.3093	0.3072	0.3051	0.3041	0.8318