基于非线性自适应卡尔曼滤波的PID控制

2011 International Conference on Electrical and Control Engineering Pub Date : 2011-10-24 DOI:10.1109/ICECENG.2011.6057138

X. Jianping, Guan Rongqiang, L. Junyi

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引用次数: 1

摘要

本文针对水下机器人的空间姿态和PID控制问题，进行了非线性自适应卡尔曼滤波与PID控制相结合的仿真研究。结果表明，与一般的卡尔曼滤波PID控制系统相比，非线性自适应卡尔曼滤波能更有效地抑制白噪声污染。从而提高了控制效果。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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The PID control based on nonlinear adaptive Kalman filter

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.

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2011 International Conference on Electrical and Control Engineering

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