Kalman filter under nonlinear system transformations

Result code in IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F12%3A00197372" target="_blank" >RIV/68407700:21230/12:00197372 - isvavai.cz</a>

Result on the web

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DOI - Digital Object Identifier

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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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Type

D - Article in proceedings

CEP classification

BC - Theory and management systems

OECD FORD branch

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Project

<a href="/en/project/GAP103%2F12%2F1794" target="_blank" >GAP103/12/1794: Advanced methods for complex systems analysis and control.</a><br>

Continuities

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Publication year

2012

Confidentiality

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Article name in the collection

2012 American Control Conference (ACC 2012)

ISBN

978-1-4577-1096-4

ISSN

0743-1619

e-ISSN

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Number of pages

6

Pages from-to

4789-4794

Publisher name

IEEE

Place of publication

Piscataway

Event location

Montreal

Event date

Jun 27, 2012

Type of event by nationality

WRD - Celosvětová akce

UT code for WoS article

000310776205016