Nonlinear State Estimation by Adaptive Embedded RBF Modules

1999 ◽  
Vol 123 (1) ◽  
pp. 44-48 ◽  
Author(s):  
Chengyu Gan ◽  
Kourosh Danai
Keyword(s):  
State Estimation ◽  
Degrees Of Freedom ◽  
Compensation Method ◽  
Estimation Model ◽  
Single Input Single Output ◽  
Single Output ◽  
Nonlinear State Estimation ◽  
Single Input ◽  
Range Of Variation ◽  
Nonlinear State

A modeling compensation method is introduced to enhance the performance of the extended Kalman filter (EKF) in coping with the uncertainty of estimation model. In this method, single-input single-output radial basis function (RBF) modules are embedded within the nonlinear estimation model to provide additional degrees of freedom for model adaptation. The weights of the embedded RBF modules are adapted by the EKF, concurrent with state estimation. This compensation method is tested in application to a benchmark problem. Simulation results indicate that the RBF modules provide the means to model the uncertain components of the estimation model within their range of variation.

Robust Control of Active Suspensions

2007 ◽  
Author(s):  
Dongsuk Kum ◽  
Huei Peng
Keyword(s):  
Degrees Of Freedom ◽  
Disturbance Attenuation ◽  
Control Synthesis ◽  
Control Architecture ◽  
Single Input Single Output ◽  
Single Output ◽  
Stability Robustness ◽  
Road Disturbance ◽  
Main Culprit ◽  
Single Input

Active suspension has been widely studied in recent decades but the implementation of the single-input, single-output (SISO) force-control architecture that many of the prior studies use has had limited success due to the lightly damped zeros. The inherent trade-off between robust stability and road disturbance attenuation for SISO control architecture is the main culprit. In this paper, we study whether the single-input, two-output (SITO) control architecture provides sufficient degrees of freedom in the control synthesis. First, a quarter car model with an electromagnetic motor is derived and the improved LQG/LTR design technique is employed to simultaneously recover both stability robustness and disturbance attenuation properties at the expense of measurement noise sensitivity. It was found that if the control system is restricted to SISO architecture, sprung mass acceleration is the most promising choice among practical measurements. Both classical and modern control approaches are used to analyze the effectiveness of the proposed method and its closed-loop performance. Simulation results show that stability robustness and disturbance attenuation can be dramatically improved by the SITO architecture over its SISO counterpart.

A Strong Tracking Cubature Kalman Filter for Nonlinear Estimation

2013 ◽  
Vol 313-314 ◽  
pp. 1115-1119
Author(s):  
Yong Qi Wang ◽  
Feng Yang ◽  
Yan Liang ◽  
Quan Pan
Keyword(s):  
Kalman Filter ◽  
State Estimation ◽  
Scaling Factor ◽  
Estimation Accuracy ◽  
Nonlinear State Estimation ◽  
Cubature Kalman Filter ◽  
Novel Method ◽  
Simulation Results ◽  
Tracking Filter ◽  
Nonlinear State

In this paper, a novel method based on cubature Kalman filter (CKF) and strong tracking filter (STF) has been proposed for nonlinear state estimation problem. The proposed method is named as strong tracking cubature Kalman filter (STCKF). In the STCKF, a scaling factor derived from STF is added and it can be tuned online to adjust the filtering gain accordingly. Simulation results indicate STCKF outperforms over EKF and CKF in state estimation accuracy.

Comparative analysis of SISO and wavelength diversity-based FSO systems at different transmitter power levels

2020 ◽  
Vol 0 (0) ◽  
Author(s):  
Varun Srivastava ◽  
Abhilash Mandloi ◽  
Dhiraj Kumar Patel
Keyword(s):  
Optical Signal ◽  
Free Space Optical ◽  
Optical Source ◽  
Transmit Power ◽  
Single Input Single Output ◽  
Transmitter Power ◽  
Single Output ◽  
Communication Links ◽  
Single Input ◽  
Matching Performance

AbstractFree space optical (FSO) communication refers to a line of sight technology, which comprises optical source and detector to create a link without the use of physical connections. Similar to other wireless communication links, these are severely affected by losses that emerged due to atmospheric turbulence and lead to deteriorated intensity of the optical signal at the receiver. This impairment can be compensated easily by enhancing the transmitter power. However, increasing the transmitter power has some limitations as per radiation regulations. The requirement of high transmit power can be reduced by employing diversity methods. This paper presents, a wavelength-based diversity method with equal gain combining receiver, an effective technique to provide matching performance to single input single output at a comparatively low transmit power.

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