This article proposes a detailed nonlinear mathematical model of an antagonistic pneumatic artificial muscle (PAM) actuator system for estimating the joint angle and torque using unscented Kalman filter (UKF). The proposed is described in hybrid state-space representation. It includes contraction force PAM, dynamics, fluid dynamics compressed air, mass flows valve, friction models. A part model...

Accurate state of charge (SOC) estimation is helpful for battery management systems to extend batteries’ lifespan and ensure the safety batteries. However, due pseudo-positive definiteness covariance matrix noise statistics error accumulation, SOC lithium-ion batteries usually inaccurate or even divergent using Kalman filters, such as unscented filter (UKF) square-root (SRUKF). To resolve this ...

Celestial navigation using time delay measurement is an innovative autonomous method. To calculate the equivalent measurement, numerical method needs to be applied, which time-consuming. The event-triggered mechanism intermittently and aperiodically processes measurements by judging if update error has changed drastically. However, its performance greatly affected constant threshold. solve this...

This paper presents an interesting hybrid solution to a challenging estimation and control problem of the Permanent Magnet Synchronous Motor (PMSM). Apart from inherently nonlinear nature PMSM, which makes this particularly challenging, is unavailability measurements, rotor position, speed. In effort efficiently cope with such issues along random noise environment, Unscented Kalman Filter (UKF)...