DOI 10.17586/0021-3454-2015-58-9-742-750
UDC 62.50
STATE ESTIMATION OF THE MULTIPENDULUM SETUP UNDER COMMUNICATION CONSTRAINTS
Institute of Problems in Mechanical Engineering, the Russian Academy of Sciences; Professor
B. R. Andrievsky
ITMO University, Saint Petersburg, 197101, Russian Fedefation Control;; Professor
A. B. Andrievsky
IPME RAS; Post-Graduate Student
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Abstract. Application of the coding-decoding procedure based on a plant dynamics model for implementation of embedded observer with low-bitrate data transmission channel is demonstrated for computer-controlled mechanical system — a multipendulum setup. Experimental results show efficiency of the proposed method in the case of corrupted measurements and plant model uncertainty.
Keywords: multipendulum setup, mathematical model, data transmission, communication channel, state estimation, experiment
