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题名: An Enhanced Adaptive Set-Membership Filter for Nonlinear Ellipsoidal Estimation
作者: Zhou B(周波) ; Han JD(韩建达) ; Liu GJ(刘光军)
作者部门: 机器人学研究室
会议名称: American Control Conference 2007
会议日期: July 9-13, 2007
会议地点: New York, NY
会议录: 2007 AMERICAN CONTROL CONFERENCE, VOLS 1-13
会议录出版者: IEEE
会议录出版地: NEW YORK
出版日期: 2007
页码: 5135-5140
收录类别: CPCI(ISTP) ; EI
ISSN号: 0743-1619
ISBN号: 978-1-4244-0988-4
摘要: The extended set-membership filter (ESMF) for nonlinear ellipsoidal estimation suffers from numerical instability, computation complexity, as well as the difficulty in filter parameter selection. In this paper, a UD factorization-based adaptive set-membership filter (AESMF) is developed and applied to nonlinear joint estimation of both time-varying states and parameters. As the result of using the proposed UD factorization, combined with a new sequential and selective measurement update strategy, the numerical stability and real-time applicability of conventional ESMF are substantially improved. Furthermore, an adaptive selection scheme of the filter parameters is derived to reduce the computation complexity and achieve sub-optimal estimation. Simulation results have shown the efficiency and robustness of the proposed method.
语种: 英语
产权排序: 1
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/8563
Appears in Collections:机器人学研究室_会议论文

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Recommended Citation:
周波; 韩建达; 刘光军.An Enhanced Adaptive Set-Membership Filter for Nonlinear Ellipsoidal Estimation.见:IEEE .2007 AMERICAN CONTROL CONFERENCE, VOLS 1-13,NEW YORK,2007,5135-5140
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