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基于MIT规则的自适应扩展集员估计方法
Alternative TitleA MIT-based Nonlinear Adaptive Set-membership Filter for Ellipsoidal Estimation
宋大雷; 吴冲; 齐俊桐; 韩建达
Department机器人学研究室
Source Publication自动化学报
ISSN0254-4156
2012
Volume38Issue:11Pages:1847-1860
Indexed ByEI ; CSCD
EI Accession number20125215843215
CSCD IDCSCD:4676071
Contribution Rank1
Funding Organization国家高技术研究发展计划(863计划)(2012AA041501); 国家自然科学基金(61035005,61273025,61203334); 国家科技支撑计划(2011BAD20B07)资助
Keyword扩展集员估计 Mit自适应规则 自适应滤波 参数定界
Abstract用于非线性椭球估计的自适应扩展集员(Adaptive extended set-membership filter,AESMF)算法在实际应用中存在着过程噪声设定椭球与真实噪声椭球失配的问题,导致滤波器的估计出现偏差甚至发散.本文提出了一种基于MIT规则过程噪声椭球最优化的自适应扩展集员估计算法(MIT-AESMF),用于解决非线性系统时变状态和参数的联合估计和定界中过程噪声无法精确建模问题的新算法.本算法通过MIT优化规则,在线计算使一步预测偏差包络椭球最小化的过程噪声包络椭球,以此保证滤波器健康指标满足有效条件;最后,采用地面移动机器人状态和动力学参数联合估计验证了所提出方法的有效性.
Other AbstractThe adaptive extended set-membership filter (AESMF) for nonlinear ellipsoidal estimation suffers the mismatch between real process noise and its set boundaries, which may result in unstable estimation. In this paper, a MIT method-based adaptive set-membership filter for optimization of the set boundaries of process noise is developed and applied to nonlinear joint estimation of both time-varying states and parameters. As a result of using the proposed MIT, the estimation stability and boundaries accuracy of...
Language中文
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Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/10342
Collection机器人学研究室
Affiliation1.中国科学院沈阳自动化研究所机器人学国家重点实验室
2.中国科学院大学
Recommended Citation
GB/T 7714
宋大雷,吴冲,齐俊桐,等. 基于MIT规则的自适应扩展集员估计方法[J]. 自动化学报,2012,38(11):1847-1860.
APA 宋大雷,吴冲,齐俊桐,&韩建达.(2012).基于MIT规则的自适应扩展集员估计方法.自动化学报,38(11),1847-1860.
MLA 宋大雷,et al."基于MIT规则的自适应扩展集员估计方法".自动化学报 38.11(2012):1847-1860.
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