New developments in state estimation for nonlinear systems
Based on an interpolation formula, accurate state estimators for nonlinear systems can be derived. The estimators do not require derivative information which makes them simple to implement. State estimators for nonlinear systems are derived based on polynomial approximations obtained with a multi-di...
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| Veröffentlicht in: | Automatica (Oxford) Jg. 36; H. 11; S. 1627 - 1638 |
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| Hauptverfasser: | , , |
| Format: | Journal Article |
| Sprache: | Englisch |
| Veröffentlicht: |
Elsevier Ltd
01.11.2000
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| Schlagworte: | |
| ISSN: | 0005-1098, 1873-2836 |
| Online-Zugang: | Volltext |
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| Abstract | Based on an interpolation formula, accurate state estimators for nonlinear systems can be derived. The estimators do not require derivative information which makes them simple to implement.
State estimators for nonlinear systems are derived based on polynomial approximations obtained with a multi-dimensional interpolation formula. It is shown that under certain assumptions the estimators perform better than estimators based on Taylor approximations. Nevertheless, the implementation is significantly simpler as no derivatives are required. Thus, it is believed that the new state estimators can replace well-known estimators, such as the extended Kalman filter (EKF) and its higher-order relatives, in most practical applications. |
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| AbstractList | Based on an interpolation formula, accurate state estimators for nonlinear systems can be derived. The estimators do not require derivative information which makes them simple to implement.
State estimators for nonlinear systems are derived based on polynomial approximations obtained with a multi-dimensional interpolation formula. It is shown that under certain assumptions the estimators perform better than estimators based on Taylor approximations. Nevertheless, the implementation is significantly simpler as no derivatives are required. Thus, it is believed that the new state estimators can replace well-known estimators, such as the extended Kalman filter (EKF) and its higher-order relatives, in most practical applications. |
| Author | Ravn, Ole Nørgaard, Magnus Poulsen, Niels K. |
| Author_xml | – sequence: 1 givenname: Magnus surname: Nørgaard fullname: Nørgaard, Magnus email: pmn@iau.dtu.dk organization: Department of Mathematical Modelling, Bldg 321, Technical University of Denmark, 2800 Lyngby, Denmark – sequence: 2 givenname: Niels K. surname: Poulsen fullname: Poulsen, Niels K. organization: Department of Mathematical Modelling, Bldg 321, Technical University of Denmark, 2800 Lyngby, Denmark – sequence: 3 givenname: Ole surname: Ravn fullname: Ravn, Ole organization: Department of Automation, Bldg. 326, Technical University of Denmark, 2800 Lyngby, Denmark |
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| Cites_doi | 10.1109/ACC.1995.529783 10.1016/S0005-1098(97)00127-1 10.1109/TAC.1968.1098986 10.1117/12.280797 |
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