Nonlinear moving horizon state estimation for a hovercraft with Continuation/GMRES method

被引：0
|
作者：
Soneda, Y [1 ]
Ohtsuka, T [1 ]
机构：
[1] Osaka Univ, Dept Comp Controlled Mech Syst, Osaka 5650871, Japan
来源：
PROCEEDINGS OF THE 2002 IEEE INTERNATIONAL CONFERENCE ON CONTROL APPLICATIONS, VOLS 1 & 2 | 2002年
关键词：
D O I：
暂无
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 fast algorithm for nonlinear moving horizon state estimation. The estimates are updated by a differential equation to trace the solution of an associated two-point boundary-value problem. A linear equation involved in the differential equation is solved by the generalized minimum residual (GMRES) method, one of the Krylov subspace methods. The proposed algorithm is applied to a hovercraft whose dynamics is highly nonlinear. The estimates are compared with the actual measurements.
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页码：1088 / 1093
页数：6
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