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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
通讯作者: 周波
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: EI ; CPCI(ISTP)
EI收录号: 20082811365205
WOS记录号: WOS:000252258800101
产权排序: 1
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
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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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作者单位: 1.Graduate School of the Chinese Academy of Sciences and Robotics Laboratory, Shenyang Institute and Automation, Chinese Academy of Sciences, Shenyang 110016, China
2.Robotics Laboratory, Shenyang Institute and Automation, Chinese Academy of Sciences, Shenyang 110016, China
3.Department of Aerospace Engineering, Ryerson University, Toronto, M5B 2K3, Canada

Recommended Citation:
Zhou B,Han JD,Liu GJ. An Enhanced Adaptive Set-Membership Filter for Nonlinear Ellipsoidal Estimation[C]. American Control Conference 2007. New York, NY. July 9-13, 2007.An Enhanced Adaptive Set-Membership Filter for Nonlinear Ellipsoidal Estimation.
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