Reference : Adaptive-gain Extended Kalman Filter: Extension to the Continuous-discrete Case
Scientific congresses, symposiums and conference proceedings : Unpublished conference
Engineering, computing & technology : Multidisciplinary, general & others
Adaptive-gain Extended Kalman Filter: Extension to the Continuous-discrete Case
Boizot, Nicolas [University of Luxembourg > Faculty of Science, Technology and Communication (FSTC) > Computer Science and Communications Research Unit (CSC) >]
Busvelle, Eric [> >]
Gauthier, Jean-Paul [> >]
10th European Control Conference (ECC'09)
23-26 August 2009
[en] In the present article we propose a nonlinear observer that merges the behaviors 1) of an extended Kalman filter, mainly designed to smooth off noise , and 2) of high-gain observers devoted to handle large perturbations in the state estimation. We specifically aim at continuous-discrete systems.
The strategy consists in letting the high-gain self adapt according to the innovation.
We define innovation computed over a time window and justify its usage via an important lemma. We prove the general convergence of the resulting observer.

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