NDLI: State estimation for ellipsoidally constrained dynamic systems with set-membership pseudo measurements

Content Provider	IEEE Xplore Digital Library
Author	Noack, B. Baum, M. Hanebeck, U.D.
Copyright Year	2015
Description	Author affiliation: Intell. Sensor-Actuator-Syst. Lab., Inst. for Anthropomatics & Robot., Karlsruhe, Germany (Noack, B.; Baum, M.; Hanebeck, U.D.)
Abstract	In many dynamic systems, the evolution of the state is subject to specific constraints. In general, constraints cannot easily be integrated into the prediction-correction structure of the Kalman filter algorithm. Linear equality constraints are an exception to this rule and have been widely used and studied as they allow for simple closed-form expressions. A common approach is to reformulate equality constraints into pseudo measurements of the state to be estimated. However, equality constraints define deterministic relationships between state components which is an undesirable property in Kalman filtering as this leads to singular covariance matrices. A second problem relates to the knowledge required to identify and define precise constraints, which are met by the system state. In this article, ellipsoidal constraints are introduced that can be employed to model a bounded region, to which the system state is constrained. This concept constitutes an easy-to-use relaxation of equality constraints. In order to integrate ellipsoidal constraints into the Kalman filter structure, a generalized filter framework is utilized that relies on a combined stochastic and set-membership uncertainty representation.
Starting Page	297
Ending Page	302
File Size	278219
Page Count	6
File Format	PDF
e-ISBN	9781479977727
DOI	10.1109/MFI.2015.7295824
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2015-09-14
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Covariance matrices Kalman filters Measurement uncertainty Xenon Stochastic processes Shape Mathematical model
Content Type	Text
Resource Type	Article

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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