Disturbance compensation
AssigneeNVIDIA Corporation
InventorsMohammed Nasir, Vishal Murali, Yue Sun
Life of this patent
Estimating the term…
Abstract
The present disclosure relates to determining an observed state of a system based at least on sensor data generated using one or more sensors of the system. The present disclosure further relates to generating disturbance data based at least on comparing an estimated state of the system with the observed state of the system. The present disclosure further relates to updating one or more disturbance terms of a state space formulation based at least on the disturbance data. The present disclosure further relates to generating, based at least on the state space formulation, a control command that directs one or more operations of the system according to plan data indicative of a plan for completing one or more tasks of the system.
Claims19
A system comprising:
- one or more processing units to cause performance of operations comprising:
- determining an observed state of the system based at least on sensor data directly indicating a state of the system and generated using one or more sensors of the system;
- determining an estimated state of the system based at least on measurement data measuring one or more characteristics that are intrinsic to the system, the measurement data indirectly indicating the state of the system;
- generating disturbance data based at least on a difference between one or more characteristics of the estimated state of the system and the same one or more characteristics of the observed state of the system;
- updating one or more disturbance terms of a state space formulation based at least on the disturbance data;
- and
- generating, based at least on the state space formulation, a control command that directs one or more operations of the system according to plan data indicative of a plan for completing one or more tasks of the system.
A system comprising:
- one or more processing units to cause performance of operations comprising:
- generating disturbance data based at least on one or more differences between a predicted state of a system and an observed state of the system, the predicted state of the system being determined based on measurement data measuring one or more characteristics that are intrinsic to the system, the measurement data indirectly indicating a state of the system and the observed state of the system being determined based at least on sensor data generated using one or more sensors of the system;
- and
- generating, based at least on the disturbance data, a control command that directs one or more operations of the system according to plan data indicative of a plan for completing one or more tasks of the system.
A processor comprising processing circuitry to perform operations comprising:
- generating disturbance data based at least on comparing an estimated state of a system and an observed state of the system, the estimated state of the system determined based at least on measurement data measuring one or more characteristics that are intrinsic to the system, the measurement data indirectly indicating a state of the system;
- processing the disturbance data, observed state data corresponding to the observed state, and plan data indicative of a plan for performing one or more tasks of the system to predict a future state of the system;
- and
- generating a control command that directs one or more operations of the system associated with the one or more tasks based at least on the future state as predicted.
Dependencies are inferred from the claim text.