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Nonlinear dynamic inversion for redundant systems using the EKF formalism

Evain, Hélène and Rognant, Mathieu and Alazard, Daniel and Mignot, Jean Nonlinear dynamic inversion for redundant systems using the EKF formalism. (2016) In: 2016 American Control Conference (ACC), 6 July 2016 - 8 July 2016 (Boston, United States).

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Official URL: http://dx.doi.org/10.1109/ACC.2016.7524939


This paper presents an allocator for over-actuated systems based on the Extended Kalman Filter (EKF). The main advantages of the proposed approach are the greater flexibility in handling the constraints and its real-time capabilities. Based on the literature, theoretic convergence results, which ensure the convergence towards the local optimal values looked for, are presented. Another formulation of the kinematic equations of redundant systems that meet some constraints is also proposed in order to go through and/or avoid singularities. The two formulations are combined and applied to an academic example (a planar redundant manipulator arm).

Item Type:Conference or Workshop Item (Paper)
Additional Information:Thanks to the IEEE (Institute of Electrical and Electronics Engineers). This paper is available at : http://ieeexplore.ieee.org/document/7524939/ “© 2015 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
HAL Id:hal-01405187
Audience (conference):International conference proceedings
Uncontrolled Keywords:
Institution:French research institutions > Centre National d'Études Spatiales - CNES (FRANCE)
Université de Toulouse > Institut Supérieur de l'Aéronautique et de l'Espace - ISAE-SUPAERO (FRANCE)
French research institutions > Office National d'Etudes et Recherches Aérospatiales - ONERA (FRANCE)
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Deposited On:29 Nov 2016 14:59

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