Closed-Loop Behavior of a Class of Nonlinear Systems Under EKF-Based Control

Closed-Loop Behavior of a Class of Nonlinear Systems Under EKF-Based Control

We study the closed-loop behavior of the extended Kalman filter (EKF) for a class of deterministic nonlinear systems that are transformable to the special normal form with linear internal dynamics. We argue that the closed-loop system is asymptotically stable and the estimation error exponentially c...

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Veröffentlicht in:IEEE transactions on automatic control 2007-03, Vol.52 (3), p.536-540
Hauptverfasser: Ahrens, J.H., Khalil, H.K.
Format: Artikel
Sprache:eng
Schlagworte:
Applied sciences
Asymptotic properties
Automatic control
Computer science
control theory
systems
Control systems
Control theory. Systems
Convergence
Dynamic tests
Dynamical systems
Estimation error
Exact sciences and technology
Extended Kalman filter
Kalman filtering
Modelling and identification
nonlinear control
Nonlinear control systems
Nonlinear dynamics
Nonlinear systems
Observers
Output feedback
output feedback control
Riccati equations
Simulation
singular perturbation
Stability
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Beschreibung
Zusammenfassung:We study the closed-loop behavior of the extended Kalman filter (EKF) for a class of deterministic nonlinear systems that are transformable to the special normal form with linear internal dynamics. We argue that the closed-loop system is asymptotically stable and the estimation error exponentially converges to zero. We compare the performance of the EKF to a high-gain observer through simulation
ISSN:0018-9286
1558-2523
DOI:10.1109/TAC.2007.892376