Kalman Filter Under Nonlinear System Transformations
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F67985556%3A_____%2F12%3A00377943" target="_blank" >RIV/67985556:_____/12:00377943 - isvavai.cz</a>
Result on the web
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DOI - Digital Object Identifier
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Alternative languages
Result language
angličtina
Original language name
Kalman Filter Under Nonlinear System Transformations
Original language description
This article deals with state estimation and filtering in nonlinear systems. More precisely the design of approximate nonlinear Kalman filter for nonlinear systems linearizable by a nonlinear coordinate transformation with possible application of nonlinear output injection is studied. The main idea is to reduce the errors introduced by the linearization used by the approximate filter using exact full or partial linearization of the system. Underlying transformations of both deterministic and stochasticsignals are studied. An example of designing such an approximate nonlinear filter for nonlinear tracking of walking like motion of bipedal robot is given.
Czech name
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Czech description
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Classification
Type
D - Article in proceedings
CEP classification
BC - Theory and management systems
OECD FORD branch
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Result continuities
Project
Result was created during the realization of more than one project. More information in the Projects tab.
Continuities
I - Institucionalni podpora na dlouhodoby koncepcni rozvoj vyzkumne organizace
Others
Publication year
2012
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Article name in the collection
Proceedings of the 2012 American Control Conference
ISBN
978-1-4577-1094-0
ISSN
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e-ISSN
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Number of pages
6
Pages from-to
4789-4794
Publisher name
IEEE
Place of publication
Montréal, Québec
Event location
Montréal
Event date
Jun 27, 2012
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
000310776205016