Name
Title | ||
|---|---|---|
On the estimation of systems with discontinuities using continuous-discrete unscented Kalman filter |
Abstract | ||
|---|---|---|
Discontinuous systems have been increasingly paid attention since it can be found in various physical and biological systems. In this paper we consider an effective estimation algorithm for system with multiple discontinuities. We propose that a discontinuous-right-hand-side of state equation is approximated as multiplication of known discontinuous basis function and parameter that evolves in time. The basis function is selected in such a way that stability of estimation is guaranteed. Computational behavior (chattering) on sliding surface is investigated. We use continuous-discrete unscented Kalman filter to estimate the proposed model. A particular feature is included to the algorithm i. e. when system state orbits along sliding surface, estimation is switched to computation of deterministic model as it is shown unobservable by using Filippov's convex method. Extension of the Filippov's convex method is also used in order to obtain accurate computation (avoiding chattering) along sliding surface. Simulation results of two application examples are provided to show the robustness of the algorithm. |
Year | DOI | Venue |
|---|---|---|
2014 | 10.1109/ACC.2014.6858988 | ACC |
Keywords | Field | DocType |
estimation,discontinuous systems,discontinuous-right-hand-side state equation approximation,kalman filters,sliding surface,approximation theory,sampled data systems,filippov convex method,system estimation,adaptive systems,continuous-discrete unscented kalman filter,discontinuous basis function,continuous systems,computational behavior,kalman filtering,discrete systems,discontinuity,nonlinear filters,mathematical model,computational modeling,vectors | Alpha beta filter,Extended Kalman filter,Classification of discontinuities,Fast Kalman filter,Control theory,Computer science,Control engineering,Unscented transform,Kalman filter,Ensemble Kalman filter,Invariant extended Kalman filter | Conference |
ISSN | Citations | PageRank |
0743-1619 | 1 | 0.48 |
References | Authors | |
6 | 2 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Sarot Srang | 1 | 2 | 1.56 |
| Masaki Yamakita | 2 | 266 | 57.24 |