| 基于强跟踪滤波器的改进非线性自适应观测器 |
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| 引用本文： | 柯晶,乔谊正,钱积新.基于强跟踪滤波器的改进非线性自适应观测器[J].系统工程与电子技术,2005,27(1):111-114. |
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| 作者姓名： | 柯晶 乔谊正 钱积新 |
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| 作者单位： | 1. 山东大学控制科学与工程学院,山东,济南,250061
2. 浙江大学系统工程研究所,浙江,杭州,310027 |
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| 摘 要： | 对基于强跟踪滤波器的非线性自适应观测器(nonlinearadaptiveobserver,NAO)的收敛性进行了分析,给出了NAO局部渐近收敛的充分条件。提出了一种改进非线性自适应观测器(modifiednonlinearadaptiveobserver,MNAO)算法。MNAO在具有强跟踪特性的同时对输出测量中的坏数据有较强的鲁棒性。为了降低对初始误差的敏感性,采用一种强跟踪扩展卡尔曼观测器算法启动MNAO。数值仿真示例显示了本方法的有效性。
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| 关 键 词： | 非线性观测器 扩展卡尔曼滤波器 强跟踪滤波器 自适应观测器 |
| 文章编号： | 1001-506X(2005)01-0111-04 |
| 修稿时间： | 2003年10月25 |
Modified nonlinear adaptive observer based on strong tracking filter |
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| KE Jing,QIAO Yi-zheng,QIAN Ji-xin.Modified nonlinear adaptive observer based on strong tracking filter[J].System Engineering and Electronics,2005,27(1):111-114. |
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| Authors: | KE Jing QIAO Yi-zheng QIAN Ji-xin |
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| Institution: | KE Jing~1,QIAO Yi-zheng~1,QIAN Ji-xin~2 |
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| Abstract: | Convergence of the strong tracking filter based nonlinear adaptive observer (NAO) is analyzed and sufficient conditions for local asymptotic convergence of NAO are established. A modified nonlinear adaptive observer (MNAO) is proposed. MNAO is robustn to bad data in output measurements besides its strong tracking properties. To reduce the sensitivity to the initial error, MNAO is initialized by a strong tracking extended Kalman observer algorithm. Numerical simulation example reveals the effectiveness of the method. |
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| Keywords: | nonlinear observer extended Kalman filter strong tracking filter adaptive observer |
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