Article ID | Journal | Published Year | Pages | File Type |
---|---|---|---|---|
697280 | Automatica | 2010 | 6 Pages |
Abstract
In this paper the authors provide a solution to the noise sensitivity of high-gain observers. The resulting nonlinear observer possesses simultaneously (1) extended Kalman filter’s good noise filtering properties, and (2) the reactivity of the high-gain extended Kalman filter with respect to large perturbations.The authors introduce innovation as the quantity that drives the gain adaptation. They prove a general convergence result, propose guidelines to practical implementation and show simulation results for an example.
Keywords
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Physical Sciences and Engineering
Engineering
Control and Systems Engineering
Authors
Nicolas Boizot, Eric Busvelle, Jean-Paul Gauthier,