This research addresses the problem of state estimation of an advanced rowing machine with energy regeneration. It is assumed that the states of the system, which are position, velocity, and capacitor charge, are measurable. The user force input to the system can be measured by load cells. It is shown that the need for load cells can be eliminated by estimating the force with an unknown-input Kalman filter. The estimated states and the unknown user force input are passed to the controller of the system, which is either an inversion-based controller or a semi-active impedance controller. Two friction models are considered for this system: Coulomb friction, and LuGre friction. The Kalman gains are tuned using an evolutionary algorithm to minimize the standard deviation of the estimation error. The results verify the effectiveness of the proposed approach for simultaneous estimation of the states and the input force. The standard deviation of the state estimation errors are only 10% of their measurement noise. The standard deviation of the input force estimation error is 0.1 N when using an optimized Kalman gain, which is only 25% of the value obtained when using manually tuned gains.
- Dynamic Systems and Control Division
State Estimation of an Advanced Rowing Machine Using Optimized Kalman Filtering
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Mohammadi, H, Khademi, G, Simon, D, & Richter, H. "State Estimation of an Advanced Rowing Machine Using Optimized Kalman Filtering." Proceedings of the ASME 2017 Dynamic Systems and Control Conference. Volume 1: Aerospace Applications; Advances in Control Design Methods; Bio Engineering Applications; Advances in Non-Linear Control; Adaptive and Intelligent Systems Control; Advances in Wind Energy Systems; Advances in Robotics; Assistive and Rehabilitation Robotics; Biomedical and Neural Systems Modeling, Diagnostics, and Control; Bio-Mechatronics and Physical Human Robot; Advanced Driver Assistance Systems and Autonomous Vehicles; Automotive Systems. Tysons, Virginia, USA. October 11–13, 2017. V001T37A006. ASME. https://doi.org/10.1115/DSCC2017-5319
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