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    국내학술지 제목 게시판 내용
    제목(국문) 이산 비선형 시스템에 대한 유한 임펄스 응답 고정 시간 지연 평활기
    제목(영문) A Finite Impulse Response Fixed-lag Smoother for Discrete-time Nonlinear Systems
    저자 권보규 (Bo-Kyu Kwon ,강원대학교 제어계측공학과 ) ▷공저자네트워크등록하기
    한세경 (Sekyung Han ,Department of Electrical Engineering, Kyungpook National University ) ▷공저자네트워크등록하기
    한수희 (H.S.H ,포항공과대학교 창의IT융합공학과/전자전기공학과) ) ▷공저자네트워크등록하기
    초록
    초록(영문)
    In this paper, a finite impulse response(FIR) fixed-lag smoother is proposed for discrete-time nonlinear systems. If the actual state trajectory is sufficiently close to the nominal state trajectory, the nonlinear system model can be divided into two parts: The error-state model and the nominal model. The error state can be estimated by adapting the optimal time-varying FIR smoother to the error-state model, and the nominal state can be obtained directly from the nominal trajectory model. Moreover, in order to obtain more robust estimates, the linearization errors are considered as a linear function of the estimation errors. Since the proposed estimator has an FIR structure, the proposed smoother can be expected to have better estimation performance than the IIR-structured estimators in terms of robustness and fast convergence. Additionally the proposed method can give a more general solution than the optimal FIR filtering approach, since the optimal FIR smoother is reduced to the optimal FIR filter by setting the fixed-lag size as zero. To illustrate the performance of the proposed method, simulation results are presented by comparing the method with an optimal FIR filtering approach and linearized Kalman filter.
    keyword finite impulse response, nonlinear state estimation, linearized Kalman filter, fixed-lag FIR smoother
    저널명 제어로봇시스템학회논문지 ▷관련저널보기
    VOL 21
    PAGE 0807
    발표년도 2015
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