Title :
Closed-Loop Behavior of a Class of Nonlinear Systems Under EKF-Based Control
Author :
Ahrens, Jeffrey H. ; Khalil, Hassan K.
Author_Institution :
Dept. of Electr. & Comput. Eng., Michigan State Univ., East Lansing, MI
fDate :
3/1/2007 12:00:00 AM
Abstract :
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
Keywords :
Kalman filters; asymptotic stability; closed loop systems; linear systems; nonlinear control systems; nonlinear filters; observers; EKF based control; asymptotic stability; closed loop behavior; deterministic nonlinear system; extended Kalman filter; high gain observer; linear internal dynamics; Automatic control; Control systems; Convergence; Estimation error; Nonlinear control systems; Nonlinear systems; Observers; Output feedback; Riccati equations; Stability; Kalman filtering; nonlinear control; observers; output feedback control; singular perturbation;
Journal_Title :
Automatic Control, IEEE Transactions on
DOI :
10.1109/TAC.2007.892376
