Proceedings of the KIEE Conference (대한전기학회:학술대회논문집)

The Korean Institute of Electrical Engineers (대한전기학회)
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Robustness Improvement of EKF by using Sliding Mode

슬라이딩모드를 이용한 확장형 칼만필터의 강인성 향상

  • Kim, Tae-Won (Dept. of Electrical Eng. Changwon National University) ;
  • Ha, Dong-Woo (Dept. of Electrical Eng. Changwon National University) ;
  • Park, Seung-Kyu (Dept. of Electrical Eng. Changwon National University) ;
  • Yoon, Tae-Sung (Dept. of Electrical Eng. Changwon National University) ;
  • Ahn, Ho-Gyun (Dept. of Electrical Eng. Changwon National University)
  • Published : 2006.07.12
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Abstract

In this paper, a robust Extended Kalman filter is proposed by introducing a new sliding mode surface. This filter can be used for the system with a matching condition The new state estimater is designed for stochastic systems with bounded uncertainties

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