Title :
Estimation for Nonlinear Dynamical Systems over Packet-Dropping Networks
Author :
Jin, Zhipu ; Ko, Chih-Kai ; Murray, Richard M.
Author_Institution :
Univ. of California, Los Angeles
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.
Keywords :
Kalman filters; distributed control; nonlinear dynamical systems; nonlinear programming; software packages; state estimation; SNOPT; extended Kalman filter; moving horizon estimation; networked control systems; nonlinear dynamical systems; nonlinear programming software package; packet-dropping networks; state estimation; Communication networks; Communication system control; Control systems; Decoding; Estimation error; Networked control systems; Nonlinear dynamical systems; Stability; State estimation; Sufficient conditions; State estimation; extended Kalman filter; moving horizon estimation; nonlinear dynamical systems; packet-dropping networks;
Conference_Titel :
American Control Conference, 2007. ACC '07
Conference_Location :
New York, NY
Print_ISBN :
1-4244-0988-8
Electronic_ISBN :
0743-1619
DOI :
10.1109/ACC.2007.4283063
