Robust extended Kalman filtering

A multi-mode real-time terrain parameter estimation method for wheeled motion control of mobile robots

“…AREKF contains an adaptive mechanism, which switches the filtering mode between robust and optimal. When the external disturbances are detected from current measurements, AREKF switches to the robust filtering mode and becomes a robust extended Kalman filter (REKF) as presented in [33]. Otherwise, it works on the optimal filtering mode, as a traditional extended Kalman filter (EKF).…”

Control Techniques With System Efficiency Comparison for Microwind Turbines

“…Since all the parameters in (20) are constant, for a given torque T , there is an optimal shaft speed ω opt to achieve maximum power extraction. This strategy was used in [9], but the wind torque was measured with a bulky torque transducer.…”

“…2) Take samples of the estimated torqueT L for 10 s each 0.2 s. Average those samples to get the mean valueT L . 3) Calculate the optimal speed reference by usingT L in (20) and set ω opt as the new speed reference. 4) Return to step one.…”

Singular Value Decomposition-Based Robust Cubature Kalman Filter for an Integrated GPS/Sins Navigation System

“…For the RCKF, the given parameter  is used to show the bound lever and decide the robustness for the uncertain interference of the H ∞ filter (Simon, 2010). The parameter  can be chosen appropriately according to the detailed performance index and there is a balance between system average accuracy and its robustness performance (Einicke and White, 1999). Certainly,  must be larger than a positive number to output a normal filtering result.…”