An incremental framework for the extended Kalman filter

Author

Fromion, V. ; Ferreres, G.

Author_Institution

Electr. Eng.-Syst., Univ. of Southern California, Los Angeles, CA, USA

fYear

1997

fDate

1-7 July 1997

Firstpage

3258

Lastpage

3263

Abstract

The interest of the incremental norm approach is first emphasized in the general context of nonlinear observers. Our framework is then used to characterize global stability and robustness properties of a Modified Extended Kalman Filter (MEKF). This observer is proved indeed to be globally exponentially stable and bounded: the bias, which is due to an unknown initial condition, is thus forgotten. while the effects of disturbances on the measurements remain bounded.

Keywords

Kalman filters; asymptotic stability; nonlinear control systems; nonlinear filters; observers; robust control; MEKF; extended Kalman filter; global exponential stability; modified incremental norm approach; nonlinear observers; robustness properties; unknown initial condition; Context; Kalman filters; Nonlinear systems; Observability; Observers; Robustness; Stability analysis; Extended Kalman Filtering; Nonlinear system; observer; stability;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Conference (ECC), 1997 European

Conference_Location

Brussels

Print_ISBN

978-3-9524269-0-6

Type

conf

Filename

7082613

Link To Document

https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=700981