WEN Chuanbo and CAI Yunze, “State Estimation for Linear Constrained Systems with Unknown Input,” Chinese Journal of Electronics, vol. 23, no. 3, pp. 539-544, 2014,
Citation: WEN Chuanbo and CAI Yunze, “State Estimation for Linear Constrained Systems with Unknown Input,” Chinese Journal of Electronics, vol. 23, no. 3, pp. 539-544, 2014,

State Estimation for Linear Constrained Systems with Unknown Input

Funds:  This work was supported by Natural Science Foundation of China (No.61374136, No.61374160, No.61104028), the Natural Science Foundation of Shanghai (No.12ZR1411800) and the Key Training Foundation from Shanghai Dianji University (No.12C102).
  • Received Date: 2013-01-01
  • Rev Recd Date: 2013-07-01
  • Publish Date: 2014-07-05
  • This paper deals with the filtering problem for linear discrete constrained dynamic systems with unknown input. The constraint matrix and constraint vector in this system are allowed to vary in the value and in the dimension. The original full state is separated into two parts, and the estimate of the state is reduced to find the optimal estimate of a singular system. The estimable condition is researched and a recursive estimator for the original full state is presented. A rigorous mathematical induction is given to compare the performance of our approach to that of the existing method without constraint. A numerical example is presented to demonstrate the effectiveness of the new method.
  • loading
  • W.F. Liu, C.Z. Han, F. Lian and H.Y. Zhu, "Multitarget state extraction for the PHD filter using MCMC approach", IEEE Transactions on Aerospace and Electronic Systems, Vol.46, No.2, pp.864-883, 2010.
    Q.B. Ge, T.L. Xu, X.L. Feng and C.L. Wen, "Universal delayed Kalman filtering with measurement weighted summation for the linear time invairant systems", Chinese Journal of Electronics, Vol.20, No.1, pp.67-72, 2011.
    Y.T. Chiang, L.S. Wang, F.R. Chang and H.M. Peng, "Constrained ltering methods for attitude determination using GPS and Gyro", IEE Proc. of Radar and Sonar Navigation, Vol.149, pp.258-264, 2002.
    S. Ko, and R.R. Bitmead, "State estimation for linear systems with state equality constraints", Automatic, Vol.43, pp.1363-1368, 2007.
    C.L. Wen, A.B. Qiu and B. Jiang. "An output delay approach to fault estimation for sampled-data systems", Science China: Information Science, Vol.55, No.9, pp.2128-2138, 2012.
    G. Dissanayake, S. Sukkarieh, E. Nebot and H. Durrant-Whyte, "The aiding of a low-cost strapdown inertial measurement unit using vehicle model constraints for land vehicle applications", IEEE Transactions on Robotics and Automation, Vol.17, No.5, pp.731-747, 2001.
    S. Scheding, G. Dissanayake, E. Nebot and H. Durrant-Whyte, "An experiment in autonomous navigation of an underground mining vehicle", IEEE Transactions on Robotics Automation, Vol.15, pp.85-95, 1999.
    W. Wen and H.F. Durrant-Whyte, "Model-based multi-sensor data fusion", Proc. of IEEE International Conference of Robotics and Automation, pp.1720-1726, 1992.
    D. Simon and T.L. Chia, "Kalman ltering with state equality constraints", IEEE Transactions on Aerospace and Electronics Systems, Vol.38, No.1, pp.128-136, 2002.
    R.J. Hewett, M.T. Heath, M.D. Butala and F. Kamalabadi, "A robust null space method for linear equality constrained state estimation", IEEE Transactions on Signal Processing, Vol.58, No.8, pp.3961-3971, 2010.
    Y. Guan and M. Saif, "A novel approach to the design of unknown inpout observer", IEEE Transactions on Automation and Control, Vol.36, No.5, pp.632-635, 1991.
    D.Bresch-Pietri and M. Krstic, "Adaptive trajectory tracking despite unknown input delay and plant parameters", Automatica, Vol.45, No.9, pp.2074-2081, 2009.
    M. Darouach, M. Zasadzinski, A. Bassong and S. Nowakowski, "Kalman filtering with unknown inputs via optimal state estimation of singular systems", International Journal of System Science, Vol.26, No.10, pp.2015-2028, 1995.
    M. Darouach, M. Zasadzinski and D. Mehdi, "State estimation of stochastic singular linear systems", International Journal of Systems Science, Nol.24, No.2, 3pp.45-354, 1993.
  • 加载中


    通讯作者: 陈斌, bchen63@163.com
    • 1. 

      沈阳化工大学材料科学与工程学院 沈阳 110142

    1. 本站搜索
    2. 百度学术搜索
    3. 万方数据库搜索
    4. CNKI搜索

    Article Metrics

    Article views (496) PDF downloads(1800) Cited by()
    Proportional views


    DownLoad:  Full-Size Img  PowerPoint