Optimal variable state estimation of Dexterous Hand Master system via Kalman filter to control desing in space states

Abstract

This research aims to design an estimator via Kalman Filter design to estimate the system state variables Dexterous Hand Master, since in practice these are not available for measurement. The Kalman filter problem composes stage of the robust control LQG method, thus it can be stated that uncertainties, noises and disturbances in the system are considered in the controller project. Regarding the performance evaluation method of the controller, it was used the analysis in the time domain to an input to the ramp unit, analyzing settling time and steady-state error. In general, the estimator by Kalman filter designed accomplished his goal in the estimation of states, performing satisfactorily in accordance with the illustrations shown.