Volume 17, Issue 4 (2017)                   Modares Mechanical Engineering 2017, 17(4): 315-321 | Back to browse issues page

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Tehrani M, Narimanzadeh N, Masoumnezhad M. The hybrid unscented /H∞ Kalman filter in state estimation of nonlinear problems. Modares Mechanical Engineering. 2017; 17 (4) :315-321
URL: http://journals.modares.ac.ir/article-15-7212-en.html
Abstract:   (1660 Views)
The early success in the 1960s of the Kalman filter in aerospace applications led to attempts to apply it to more common industrial applications in the 1970s. However, these attempts quickly made it clear that a serious mismatch existed between the underlying assumptions of Kalman filters and industrial state estimation problems. Accurate system models and statistical nature of the noise processes are not as readily available for industrial problems. In this paper, a novel method of combining two nonlinear unscented Kalman filter and "H" _∞ unscented Kalman filter is presented so that the results are a compromise between in addition of more reliability compared to that of two other filters. One characteristic of this filter is no need to linearize of the nonlinear problems and gives more suitable results than other two filters with non-Gaussian noise. Investigations show, when in a part of estimating the UKF is best and in the other part the UHF, the hybrid filter can give better results with present a compromise estimation. The variance analysis indicated that the filter is robust to statistical noise nature and a proper response can be found by changing its variable. Validation of results is performed by simulation of two nonlinear problems, free falling and inverted pendulum in mechanical engineering.
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Article Type: Research Article |
Received: 2017/01/22 | Accepted: 2017/03/7 | Published: 2017/04/23

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