An Adaptive Unscented Kalman Filter with Selective Scaling (AUKF-SS) for Overhead Cranes

Jaehoon Kim, Dongik Lee, Balint Kiss, Donggil Kim

Research output: Contribution to journalArticlepeer-review

29 Scopus citations


This article introduces an augmented adaptive unscented Kalman filter (KF). The proposed novel technique is suitable to simultaneously estimate both the diagonal process noise covariance matrix and the unknown inputs, thus combining previously reported KF estimators for unknown inputs (dual or joint KF) and for covariance matrices (adaptive KF). A selective scaling method is also introduced to improve the convergence property of the suggested KF. The development of the novel KF is also motivated by a specific estimation problem related to crane systems. Cranes represent a special class of weight handling equipment as they are underactuated and described by nonlinear dynamics such that the load present oscillatory behavior. In addition to the increasing need for their automation in various industrial fields, these features also make them a benchmark system in control engineering with numerous control laws reported in the literature for sway elimination and trajectory tracking. A common issue to realize most of the advanced control laws on real, eventually industrial size cranes is the necessity to know the sway angle and frictions on the configuration variables. It is shown in simulation and also with real experiments on a reduced size overhead crane system that the suggested KF is suitable to estimate both the sway angles and the frictions.

Original languageEnglish
Article number9102388
Pages (from-to)6131-6140
Number of pages10
JournalIEEE Transactions on Industrial Electronics
Issue number7
StatePublished - Jul 2021


  • Adaptive Kalman filtering (KF)
  • overhead crane
  • scaling factor
  • unknown input estimation


Dive into the research topics of 'An Adaptive Unscented Kalman Filter with Selective Scaling (AUKF-SS) for Overhead Cranes'. Together they form a unique fingerprint.

Cite this