期刊
IEEE TRANSACTIONS ON AUTOMATIC CONTROL
卷 55, 期 4, 页码 1018-1024出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TAC.2010.2041681
关键词
Recursive state estimation; regularized least-squares; robustness; structured parametric uncertainty
资金
- NNSFC [60625305, 60721003]
- 973 Program [2009CB320602]
This technical note deals with robust state estimation when parametric uncertainties nonlinearly affect a plant state-space model, based on a simultaneous minimization of nominal estimation errors and their sensitivities. An analytic solution is derived for the optimal estimator which can be recursively realized. This estimator has a form similar to the robust estimator of [6], and its computational complexity is comparable to the Kalman filter. Under certain conditions, this robust estimator is proved to converge to a stable system, its estimation errors have a bounded covariance matrix, and the estimate is asymptotically unbiased. Numerical simulations show that the obtained estimator has nice estimation performances.
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