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Estimation for Nonlinear Dynamical Systems over Packet-Dropping Networks

Jin, Zhipu and Ko, Chih-Kai and Murray, Richard M. (2007) Estimation for Nonlinear Dynamical Systems over Packet-Dropping Networks. In: 2007 American Control Conference. IEEE , Piscataway, NJ, pp. 5037-5042. ISBN 1-4244-0988-8. https://resolver.caltech.edu/CaltechAUTHORS:20170427-143640907

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Abstract

Two approaches, extended Kalman filter (EKF) and moving horizon estimation (MHE), are discussed for state estimation for nonlinear dynamical systems over packet-dropping networks. For EKF, we provide sufficient conditions that guarantee a bounded EKF error covariance. For MHE, a natural scheme on organizing the finite horizon window is proposed to handle intermittent observations. A nonlinear programming software package, SNOPT, is employed in MHE and the formulation for constraints is discussed in detail. Examples and simulation results are presented.


Item Type:Book Section
Related URLs:
URLURL TypeDescription
https://doi.org/10.1109/ACC.2007.4283063DOIArticle
http://ieeexplore.ieee.org/document/4283063/PublisherArticle
ORCID:
AuthorORCID
Murray, Richard M.0000-0002-5785-7481
Additional Information:© 2007 IEEE.
Subject Keywords:State estimation, nonlinear dynamical systems, extended Kalman filter, moving horizon estimation, packet-dropping networks
DOI:10.1109/ACC.2007.4283063
Record Number:CaltechAUTHORS:20170427-143640907
Persistent URL:https://resolver.caltech.edu/CaltechAUTHORS:20170427-143640907
Official Citation:Z. Jin, C. K. Ko and R. M. Murray, "Estimation for Nonlinear Dynamical Systems over Packet-Dropping Networks," 2007 American Control Conference, New York, NY, 2007, pp. 5037-5042. doi: 10.1109/ACC.2007.4283063
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:77019
Collection:CaltechAUTHORS
Deposited By: Kristin Buxton
Deposited On:27 Apr 2017 21:48
Last Modified:15 Nov 2021 17:04

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