Adaptive Square-Root Unscented Kalman Filter: Implementation of Exponential Forgetting Factor

被引:0
作者
Asl, Reza Mohammadi [1 ]
Hagh, Yashar Shabbouei [1 ]
Fekih, Afef [2 ]
Handroos, Heikki [1 ]
机构
[1] LUT Univ, Lab Intelligent Machines, Lappeenranta, Finland
[2] Univ Louisiana Lafayette, Dept Elect & Comp Engn, Lafayette, LA 70504 USA
来源
2020 6TH INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND ROBOTICS (ICCAR) | 2020年
关键词
adaptive square-root unscented Kalman filter; state estimation; time varying noise; servo-hydraulic system; STATE;
D O I
10.1109/iccar49639.2020.9108044
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
This paper proposes a new form of adaptive square root unscented Kalman filter that implements an exponential forgetting factor to update the filter. It aims at estimating the states of nonlinear systems without a priori knowledge about the statistics of noises. The filter updates the estimation of covariances of noises with time, and the updated covariances are used to update the states of the system. The proposed approach is implemented to a servo-hydraulic system which states and measurements are affected by time varying noises with time-varying statistics. The obtained results along with the mean square errors of the estimation of states confirmed the performance and precision of the proposed filter.
引用
收藏
页码:622 / 626
页数:5
相关论文
共 50 条
  • [21] State of Charge (SOC) Estimation of Lithium-ion Battery Based on Adaptive Square Root Unscented Kalman Filter
    Wang Kai
    Feng Xiao
    Pang Jinbo
    Ren Jun
    Duan Chongxiong
    Li Liwei
    INTERNATIONAL JOURNAL OF ELECTROCHEMICAL SCIENCE, 2020, 15 (09): : 9499 - 9516
  • [22] Iterated Square Root Unscented Kalman Filter for State Estimation- CSTR Model
    Mansouri, Majdi
    Avci, Onur
    Nounou, Hazem
    Nounou, Mohamed
    2015 IEEE 12TH INTERNATIONAL MULTI-CONFERENCE ON SYSTEMS, SIGNALS & DEVICES (SSD), 2015,
  • [23] Square-root unscented Kalman filter for ammonia coverage ratio and input ammonia estimations in diesel-engine urea-SCR system
    Yang, Shichun
    Feng, Song
    Sun, Kangfeng
    Wang, Shuai
    Cao, Yaoguang
    ISA TRANSACTIONS, 2020, 96 : 299 - 308
  • [24] The J-Orthogonal Square-Root NIRK-Based Extended-Unscented Kalman Filter for Nonlinear Continuous-Discrete Stochastic Systems
    Kulikov, Gennady Yu.
    Kulikova, Maria V.
    2019 IEEE 58TH CONFERENCE ON DECISION AND CONTROL (CDC), 2019, : 373 - 378
  • [25] Square Root Unscented Kalman Filter With Modified Measurement for Dynamic State Estimation of Power Systems
    Dang, Lujuan
    Wang, Wanli
    Chen, Badong
    IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT, 2022, 71
  • [26] A two-stage adaptive symmetric-strong-tracking square-root cubature Kalman filter for harmonics and interharmonics estimation
    Pramanik, Meghabriti
    Routray, Aurobinda
    Mitra, Pabitra
    ELECTRIC POWER SYSTEMS RESEARCH, 2022, 210
  • [27] Induction Motors Fault Detection Using Square-Root Transformed Cubature Quadrature Kalman Filter
    Zarei, Jafar
    Kowsari, Elham
    Razavi-Far, Roozbeh
    IEEE TRANSACTIONS ON ENERGY CONVERSION, 2019, 34 (02) : 870 - 877
  • [28] Lithium-Ion Battery SOC Estimation Based on Adaptive Forgetting Factor Least Squares Online Identification and Unscented Kalman Filter
    Wang, Hao
    Zheng, Yanping
    Yu, Yang
    MATHEMATICS, 2021, 9 (15)
  • [29] Hyperbolic-SVD-Based Square-Root Unscented Kalman Filters in Continuous-Discrete Target Tracking Scenarios
    Kulikov, Gennady Yu
    Kulikova, Maria, V
    IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 2022, 67 (01) : 366 - 373
  • [30] A Study on Coaxial Quadrotor Model Parameter Estimation: an Application of the Improved Square Root Unscented Kalman Filter
    Goslinski, Jaroslaw
    Kasinski, Andrzej
    Giernacki, Wojciech
    Owczarek, Piotr
    Gardecki, Stanislaw
    JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS, 2019, 95 (02) : 491 - 510