Closed-loop behavior of a class of nonlinear systems under EKF-based control

被引：21

作者：

Ahrens, Jeffrey H. ^{[1
]}

Khalil, Hassan K. ^{[1
]}

机构：

[1] Michigan State Univ, Dept Elect & Comp Engn, E Lansing, MI 48824 USA

来源：

IEEE TRANSACTIONS ON AUTOMATIC CONTROL | 2007年 / 52卷 / 03期

关键词：

Kalman filtering; nonlinear control; observers; output feedback control; singular perturbation;

D O I：

10.1109/TAC.2007.892376

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

We study the closed-loop behavior of the extended Kalman filter (EKF) for a class of deterministic nonlinear systems that are transformable to the special normal form with linear internal dynamics. We argue that the closed-loop system is asymptotically stable and the estimation error exponentially converges to zero. We compare the performance of the EKF to a high-gain observer through simulation.

引用

页码：536 / 540

页数：5

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