The PID control based on nonlinear adaptive Kalman filter

Abstract

This paper focuses on a simulation research by way of combining nonlinear adaptive Kalman filter with PID control, aiming at resolving the space attitude and the PID control system for an underwater robot. The results reveal that the nonlinear adaptive Kalman filter, compared with general Kalman filter PID control system, can inhibit white noise pollution more effectively. Thus, the control effect has been improved.