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Estimation of the mechanical state variables of the two-mass system using fuzzy adaptive Kalman filter - Experimental study

This paper investigates the application of fuzzy adaptive Kalman Filter for mechanical state variable and parameter estimation of the drive system with elastic joint. The adaptive state-space controller, which coefficients are retuned according to the estimation parameter provided by Kalman filter, is selected to control the two-mass system effectively. Selected elements of covariance matrix Q are retuned by proposed adaptation law. Additional fuzzy element is used to modified the control law in order to decrease estimation error of the plant. The effectiveness of the proposed approach is investigated under variety of experimental tests.