The cubature smooth variable structure filter estimation strategy applied to a quadrotor controller

Abstract

Unmanned aerial systems (UAS) are becoming increasingly popular in industry, military, and social environments. An UAS that provides good operating performance and robustness to disturbances is often quite expensive and prohibitive to the general public. To improve UAS performance without affecting the overall cost, an estimation strategy can be implemented on the internal controller. The use of an estimation strategy or filter reduces the number of required sensors and power requirement, and improves the controller performance. UAS devices are highly nonlinear, and implementation of filters can be quite challenging. This paper presents the implementation of the relatively new cubature smooth variable structure filter (CSVSF) on a quadrotor controller. The results are compared with other state and parameter estimation strategies.

Performance evaluation of a novel adaptive variable structure state estimator

“…Versions of SVSF-OBL which switches between SVSF-OBL and conventional Bayesian filters like those mentioned above have been proposed. 4,10,11,13 Another variant of the SVSF uses a combined methodology of SVSF and other conventional sigma point filters to combine robustness and freedom from chattering. 29 The robustness of SVSF and 2 nd order SVSF have been compared in ref.…”

“…Several nonlinear robust state estimators, [1][2][3][4][5] as well as adaptive state estimators, 2,[6][7][8][9] have been reported in the literature. Recently, a robust variable structure filter called Smooth Variable Structure Filter (SVSF) 4,[10][11][12][13] has been proposed and its application to air traffic control problems has been proposed in references. 11, 14.…”

“…10,11,27 As mentioned earlier, dependence on the process noise covariance forces the original SVSF-OBL to sacrifices the robustness of the original SVSF [9, chapter 5]. However, the knowledge of Q also helps to design a more accurate estimation within the smoothing boundary region by the use of Bayesian filters (e.g., KF, EKF, UKF, CDF, 6,28 and cubature filter 13 ) with smooth gain.…”

“…Versions of SVSF-OBL which switches between SVSF-OBL and conventional Bayesian filters like those mentioned above have been proposed. 4,10,11,13…”

Sliding innovation filter to estimate power converters of electric vehicles

“…PFC is crucial for ensuring that the grid current is in phase with the voltage, which helps reduce power loss and increase AC power production. Moreover, a comprehensive comparison of sigma-point Kalman filters and smooth variable structure filters, with applications in robotics and aerospace systems [94][95][96][97][98][99][100][101][102][103][104][105][106][107][108][109][110][111][112]. Recent studies have investigated a variety of adaptive Kalman filters in addition to other estimation methods in order to improve the accuracy of state estimation for a wide variety of applications.…”