Modal robust state estimator with deterministic specification of uncertainty

2007 ◽  
pp. 62-71 ◽  
Author(s):  
John Norton
Keyword(s):  
State Estimator

POWER SYSTEM STATE ESTIMATION USING A ROBUST ESTIMATOR

2019 ◽  
Vol XVI (4) ◽  
pp. 53-65
Author(s):  
Zahid Khan ◽  
Katrina Lane Krebs ◽  
Sarfaraz Ahmad ◽  
Misbah Munawar
Keyword(s):  
Power Systems ◽  
State Estimation ◽  
Loss Function ◽  
Weighted Least Squares ◽  
Primary Data ◽  
Robust Estimator ◽  
System State ◽  
State Estimator ◽  
Suggested Approach ◽  
Power System State Estimation

State estimation (SE) is a primary data processing algorithm which is utilised by the control centres of advanced power systems. The most generally utilised state estimator is based on the weighted least squares (WLS) approach which is ineffective in addressing gross errors of input data of state estimator. This paper presents an innovative robust estimator for SE environments to overcome the non-robustness of the WLS estimator. The suggested approach not only includes the similar functioning of the customary loss function of WLS but also reflects loss function built on the modified WLS (MWLS) estimator. The performance of the proposed estimator was assessed based on its ability to decrease the impacts of gross errors on the estimation results. The properties of the suggested state estimator were investigated and robustness of the estimator was studied considering the influence function. The effectiveness of the proposed estimator was demonstrated with the help of examples which also indicated non-robustness of MWLS estimator in SE algorithm.

State Estimation Using Randomly Delayed Measurements

1993 ◽  
Vol 115 (1) ◽  
pp. 19-26 ◽  
Author(s):  
A. Ray ◽  
L. W. Liou ◽  
J. H. Shen
Keyword(s):  
State Estimation ◽  
Minimum Variance ◽  
The State ◽  
Sensor Data ◽  
State Estimator ◽  
Uniform Asymptotic Stability ◽  
Simulation Experiments ◽  
State Estimate ◽  
Sampling Instant ◽  
Recursive Relations

This paper presents a modification of the conventional minimum variance state estimator to accommodate the effects of randomly varying delays in arrival of sensor data at the controller terminal. In this approach, the currently available sensor data is used at each sampling instant to obtain the state estimate which, in turn, can be used to generate the control signal. Recursive relations for the filter dynamics have been derived, and the conditions for uniform asymptotic stability of the filter have been conjectured. Results of simulation experiments using a flight dynamic model of advanced aircraft are presented for performance evaluation of the state estimation filter.

scholarly journals Learning the Incremental Warp for 3D Vehicle Tracking in LiDAR Point Clouds

2021 ◽  
Vol 13 (14) ◽  
pp. 2770
Author(s):  
Shengjing Tian ◽  
Xiuping Liu ◽  
Meng Liu ◽  
Yuhao Bian ◽  
Junbin Gao ◽  
...  
Keyword(s):  
Point Cloud ◽  
Point Clouds ◽  
Vehicle Tracking ◽  
Complex Nature ◽  
Global Feature ◽  
Tracking Accuracy ◽  
State Estimator ◽  
Latent Space ◽  
3D Shapes ◽  
Cloud Tracking

Object tracking from LiDAR point clouds, which are always incomplete, sparse, and unstructured, plays a crucial role in urban navigation. Some existing methods utilize a learned similarity network for locating the target, immensely limiting the advancements in tracking accuracy. In this study, we leveraged a powerful target discriminator and an accurate state estimator to robustly track target objects in challenging point cloud scenarios. Considering the complex nature of estimating the state, we extended the traditional Lucas and Kanade (LK) algorithm to 3D point cloud tracking. Specifically, we propose a state estimation subnetwork that aims to learn the incremental warp for updating the coarse target state. Moreover, to obtain a coarse state, we present a simple yet efficient discrimination subnetwork. It can project 3D shapes into a more discriminatory latent space by integrating the global feature into each point-wise feature. Experiments on KITTI and PandaSet datasets showed that compared with the most advanced of other methods, our proposed method can achieve significant improvements—in particular, up to 13.68% on KITTI.

scholarly journals Sensuator: A Hybrid Sensor–Actuator Approach to Soft Robotic Proprioception Using Recurrent Neural Networks

Actuators ◽  
2021 ◽  
Vol 10 (2) ◽  
pp. 30
Author(s):  
Pornthep Preechayasomboon ◽  
Eric Rombokas
Keyword(s):  
Neural Networks ◽  
Recurrent Neural Networks ◽  
Linear Models ◽  
Open Loop ◽  
Proof Of Concept ◽  
State Estimator ◽  
Loop Control ◽  
Practical Applications ◽  
Soft Actuator ◽  
The Cost

Soft robotic actuators are now being used in practical applications; however, they are often limited to open-loop control that relies on the inherent compliance of the actuator. Achieving human-like manipulation and grasping with soft robotic actuators requires at least some form of sensing, which often comes at the cost of complex fabrication and purposefully built sensor structures. In this paper, we utilize the actuating fluid itself as a sensing medium to achieve high-fidelity proprioception in a soft actuator. As our sensors are somewhat unstructured, their readings are difficult to interpret using linear models. We therefore present a proof of concept of a method for deriving the pose of the soft actuator using recurrent neural networks. We present the experimental setup and our learned state estimator to show that our method is viable for achieving proprioception and is also robust to common sensor failures.

scholarly journals State Estimation for Cooperative Lateral Vehicle Following Using Vehicle-to-Vehicle Communication

Electronics ◽  
2021 ◽  
Vol 10 (6) ◽  
pp. 651
Author(s):  
Wouter Schinkel ◽  
Tom van der Sande ◽  
Henk Nijmeijer
Keyword(s):  
State Estimation ◽  
Cooperative Control ◽  
The State ◽  
State Estimator ◽  
Estimation Process ◽  
Vehicle Communication ◽  
Vehicle To Vehicle ◽  
Control Schemes ◽  
Input Signals ◽  
Vehicle To Vehicle Communication

A cooperative state estimation framework for automated vehicle applications is presented and demonstrated via simulations, the estimation framework is used to estimate the state of a lead and following vehicle simultaneously. Recent developments in the field of cooperative driving require novel techniques to ensure accurate and stable vehicle following behavior. Control schemes for the cooperative control of longitudinal and lateral vehicle dynamics generally require vehicle state information about the lead vehicle, which in some cases cannot be accurately measured. Including vehicle-to-vehicle communication in the state estimation process can provide the required input signals for the practical implementation of cooperative control schemes. This study is focused on demonstrating the benefits of using vehicle-to-vehicle communication in the state estimation of a lead and following vehicle via simulations. The state estimator, which uses a cascaded Kalman filtering process, takes the operating frequencies of different sensors into account in the estimation process. Simulation results of three different driving scenarios demonstrate the benefits of using vehicle-to-vehicle communication as well as the attenuation of measurement noise. Furthermore, in contrast to relying on low frequency measurement data for the input signals of cooperative control schemes, the state estimator provides a state estimate at every sample.

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