Nonlinear state estimation by Extended Parallelotope Set-Membership Filter

2021 ◽  
Author(s):  
Danyang Qu ◽  
Zheng Huang ◽  
Yiwen Zhao ◽  
Guoli Song ◽  
Kui Yi ◽  
...  
Keyword(s):  
State Estimation ◽  
Nonlinear State Estimation ◽  
Set Membership ◽  
Nonlinear State

scholarly journals Set-Membership Based Hybrid Kalman Filter for Nonlinear State Estimation under Systematic Uncertainty

Sensors ◽  
2020 ◽  
Vol 20 (3) ◽  
pp. 627 ◽  
Author(s):  
Yan Zhao ◽  
Jing Zhang ◽  
Gaoge Hu ◽  
Yongmin Zhong
Keyword(s):  
Kalman Filter ◽  
State Estimation ◽  
Systematic Uncertainty ◽  
Mean Squared Error ◽  
Minkowski Sum ◽  
Stochastic Error ◽  
Nonlinear State Estimation ◽  
Set Membership ◽  
Linearization Error ◽  
Nonlinear State

This paper presents a new set-membership based hybrid Kalman filter (SM-HKF) by combining the Kalman filtering (KF) framework with the set-membership concept for nonlinear state estimation under systematic uncertainty consisted of both stochastic error and unknown but bounded (UBB) error. Upon the linearization of the nonlinear system model via a Taylor series expansion, this method introduces a new UBB error term by combining the linearization error with systematic UBB error through the Minkowski sum. Subsequently, an optimal Kalman gain is derived to minimize the mean squared error of the state estimate in the KF framework by taking both stochastic and UBB errors into account. The proposed SM-HKF handles the systematic UBB error, stochastic error as well as the linearization error simultaneously, thus overcoming the limitations of the extended Kalman filter (EKF). The effectiveness and superiority of the proposed SM-HKF have been verified through simulations and comparison analysis with EKF. It is shown that the SM-HKF outperforms EKF for nonlinear state estimation with systematic UBB error and stochastic error.

A Strong Tracking Cubature Kalman Filter for Nonlinear Estimation

2013 ◽  
Vol 313-314 ◽  
pp. 1115-1119
Author(s):  
Yong Qi Wang ◽  
Feng Yang ◽  
Yan Liang ◽  
Quan Pan
Keyword(s):  
Kalman Filter ◽  
State Estimation ◽  
Scaling Factor ◽  
Estimation Accuracy ◽  
Nonlinear State Estimation ◽  
Cubature Kalman Filter ◽  
Novel Method ◽  
Simulation Results ◽  
Tracking Filter ◽  
Nonlinear State

In this paper, a novel method based on cubature Kalman filter (CKF) and strong tracking filter (STF) has been proposed for nonlinear state estimation problem. The proposed method is named as strong tracking cubature Kalman filter (STCKF). In the STCKF, a scaling factor derived from STF is added and it can be tuned online to adjust the filtering gain accordingly. Simulation results indicate STCKF outperforms over EKF and CKF in state estimation accuracy.

Path-planning in autonomous electric vehicle using nonlinear state estimation and behaviour-based controllers

2017 ◽  
Vol 12 (3/4) ◽  
pp. 304
Author(s):  
N. Muthukumar ◽  
K. Ramkumar ◽  
Seshadhri Srinivasan ◽  
G. Saravanakumar ◽  
B. Subathra
Keyword(s):  
Path Planning ◽  
State Estimation ◽  
Electric Vehicle ◽  
Nonlinear State Estimation ◽  
Nonlinear State

Nonlinear State Estimation and Model Predictive Control of Nitrogen Purification Columns

2005 ◽  
Vol 44 (1) ◽  
pp. 153-167 ◽  
Author(s):  
Shoujun Bian ◽  
Michael A. Henson ◽  
Paul Belanger ◽  
Lawrence Megan
Keyword(s):  
Model Predictive Control ◽  
State Estimation ◽  
Predictive Control ◽  
Nonlinear State Estimation ◽  
Nitrogen Purification ◽  
Nonlinear State

Lower Bound Analysis For Large Errors In Nonlinear State Estimation

2005 ◽  
Author(s):  
M.L. Graham ◽  
K.F. Gong ◽  
N.A. Jackson ◽  
J.G. Baylog
Keyword(s):  
Lower Bound ◽  
State Estimation ◽  
Nonlinear State Estimation ◽  
Nonlinear State ◽  
Bound Analysis

Nonlinear state estimation of packed-bed tubular reactors

AIChE Journal ◽  
1979 ◽  
Vol 25 (4) ◽  
pp. 718-720 ◽  
Author(s):  
M. A. Soliman ◽  
W. Harmon Ray
Keyword(s):  
State Estimation ◽  
Packed Bed ◽  
Tubular Reactors ◽  
Nonlinear State Estimation ◽  
Nonlinear State

scholarly journals Nonlinear State Estimation for Humanoid Robot Walking

2018 ◽  
Vol 3 (4) ◽  
pp. 3347-3354 ◽  
Author(s):  
Stylianos Piperakis ◽  
Maria Koskinopoulou ◽  
Panos Trahanias
Keyword(s):  
State Estimation ◽  
Humanoid Robot ◽  
Nonlinear State Estimation ◽  
Nonlinear State
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