Position estimation for planar servo mechanical systems based on sensor data fusion

To estimate the position of planar servo mechanical systems(PSMS), a novel sensor fusion approach based on distributed particle filter (PF) is presented to fuse the measurements from an accelerometer and the motor encoders. As local filter, the PF is improved both by adopting proposal distribution and by choosing the memetic compact differential evolution (McDE) re-sampling. Comparative experiment studies confirm the validity of the proposed fusion method.