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A Kalman Filter Approach to Model-error Control Synthesis

2007
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Release : 2007
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Book Synopsis A Kalman Filter Approach to Model-error Control Synthesis by : Jemin George

Download or read book A Kalman Filter Approach to Model-error Control Synthesis written by Jemin George. This book was released on 2007. Available in PDF, EPUB and Kindle. Book excerpt: This thesis introduces two new techniques by which the model-error control synthesis approach can be implemented on a nonlinear system. The first method utilizes two separate extended Kalman filters. Among the two filters, one is strictly used for noise filtration/state estimation and the other is used for model error prediction. The second scheme exploits a single extended Kalman filter for the simultaneous estimation of the system states and the model error. The simulation results indicate that the new model-error control synthesis approaches are extremely effective in providing closed-loop robustness in the presence of noisy measurement signal. Finally, a sensitivity of the controlled closed-loop system stability with respect to the process noise covariance is presented.

Advanced Kalman Filtering, Least-Squares and Modeling

2011-03-29 Technology & Engineering
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Release : 2011-03-29
Genre : Technology & Engineering
Kind : eBook
Book Rating : 160/5 ( reviews)

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Book Synopsis Advanced Kalman Filtering, Least-Squares and Modeling by : Bruce P. Gibbs

Download or read book Advanced Kalman Filtering, Least-Squares and Modeling written by Bruce P. Gibbs. This book was released on 2011-03-29. Available in PDF, EPUB and Kindle. Book excerpt: This book is intended primarily as a handbook for engineers who must design practical systems. Its primary goal is to discuss model development in sufficient detail so that the reader may design an estimator that meets all application requirements and is robust to modeling assumptions. Since it is sometimes difficult to a priori determine the best model structure, use of exploratory data analysis to define model structure is discussed. Methods for deciding on the “best” model are also presented. A second goal is to present little known extensions of least squares estimation or Kalman filtering that provide guidance on model structure and parameters, or make the estimator more robust to changes in real-world behavior. A third goal is discussion of implementation issues that make the estimator more accurate or efficient, or that make it flexible so that model alternatives can be easily compared. The fourth goal is to provide the designer/analyst with guidance in evaluating estimator performance and in determining/correcting problems. The final goal is to provide a subroutine library that simplifies implementation, and flexible general purpose high-level drivers that allow both easy analysis of alternative models and access to extensions of the basic filtering. Supplemental materials and up-to-date errata are downloadable at http://booksupport.wiley.com.

Kalman Filtering

2015-02-02 Technology & Engineering
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Release : 2015-02-02
Genre : Technology & Engineering
Kind : eBook
Book Rating : 96X/5 ( reviews)

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Book Synopsis Kalman Filtering by : Mohinder S. Grewal

Download or read book Kalman Filtering written by Mohinder S. Grewal. This book was released on 2015-02-02. Available in PDF, EPUB and Kindle. Book excerpt: The definitive textbook and professional reference on Kalman Filtering – fully updated, revised, and expanded This book contains the latest developments in the implementation and application of Kalman filtering. Authors Grewal and Andrews draw upon their decades of experience to offer an in-depth examination of the subtleties, common pitfalls, and limitations of estimation theory as it applies to real-world situations. They present many illustrative examples including adaptations for nonlinear filtering, global navigation satellite systems, the error modeling of gyros and accelerometers, inertial navigation systems, and freeway traffic control. Kalman Filtering: Theory and Practice Using MATLAB, Fourth Edition is an ideal textbook in advanced undergraduate and beginning graduate courses in stochastic processes and Kalman filtering. It is also appropriate for self-instruction or review by practicing engineers and scientists who want to learn more about this important topic.

Applications and Optimizations of Kalman Filter and Their Variants

2024-07-17 Mathematics
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Release : 2024-07-17
Genre : Mathematics
Kind : eBook
Book Rating : 668/5 ( reviews)

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Book Synopsis Applications and Optimizations of Kalman Filter and Their Variants by : Asadullah Khalid

Download or read book Applications and Optimizations of Kalman Filter and Their Variants written by Asadullah Khalid. This book was released on 2024-07-17. Available in PDF, EPUB and Kindle. Book excerpt: Applications and Optimizations of Kalman Filter and Their Variants is a comprehensive exploration of Kalman filters’ diverse applications and refined optimizations across various domains. It meticulously examines their role in microgrid management, offering adaptive estimation techniques for effective control strategies. The book then delves into distribution system state estimation, showcasing an innovative stochastic programming model using extended Kalman filters for reliable monitoring and control. In the realm of financial modeling, readers gain insights into how Kalman filters enhance trading strategies like pairs trading and partial co-integration, bridging finance and analytics. Moreover, the book discusses Kalman filter optimization, addressing challenges in object tracking and error reduction with techniques like dynamic stochastic approximation algorithms and M-robust estimates. With practical examples and interdisciplinary approaches, this book serves as a valuable resource for researchers, practitioners, and students looking to harness Kalman filter techniques for enhanced efficiency and accuracy across diverse fields.

Control of Relative Attitude Dynamics of a Formation Flight Using Model-error Control Synthesis

2005
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Release : 2005
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Book Synopsis Control of Relative Attitude Dynamics of a Formation Flight Using Model-error Control Synthesis by :

Download or read book Control of Relative Attitude Dynamics of a Formation Flight Using Model-error Control Synthesis written by . This book was released on 2005. Available in PDF, EPUB and Kindle. Book excerpt: A robust approach to control, called Model Error Control Synthesis (MECS), is applied to the relative attitude between a formation-flight of spacecraft. This technique combines a nominal controller with a model error estimator, where the model error estimate is used to cancel the effects of disturbance inputs and model errors. Two separate controllers are tested and compared. The model error estimate is determined using a Predictive filter. State estimation is performed by a modified extended Kalman filter. MECS is shown to be effective in canceling the effects of parametric model errors and external disturbances. The type of nominal controller has no effect on the ability of MECS to function. Accurate tracking of the desired trajectories and final attitude is achieved in each case. One negative aspect observed is that MECS tends to amplify acceleration level effects such as measurement noise.

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