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The Stability Analysis of the Adaptive Fading Extended Kalman Filter Using the Innovation Covariance
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  • The Stability Analysis of the Adaptive Fading Extended Kalman Filter Using the Innovation Covariance
  • The Stability Analysis of the Adaptive Fading Extended Kalman Filter Using the Innovation Covariance
저자명
Kim. Kwang-Hoon,Jee. Gyu-In,Park. Chan-Gook,Lee. Jang-Gyu
간행물명
International Journal of Control, Automation and Systems
권/호정보
2009년|7권 1호|pp.49-56 (8 pages)
발행정보
제어로봇시스템학회
파일정보
정기간행물|ENG|
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이 논문은 한국과학기술정보연구원과 논문 연계를 통해 무료로 제공되는 원문입니다.
서지반출

기타언어초록

The well-known conventional Kalman filter gives the optimal solution but to do so, it requires an accurate system model and exact stochastic information. However, in a number of practical situations, the system model and the stochastic information are incomplete. The Kalman filter with incomplete information may be degraded or even diverged. To solve this problem, a new adaptive fading filter using a forgetting factor has recently been proposed by Kim and co-authors. This paper analyzes the stability of the adaptive fading extended Kalman filter (AFEKF), which is a nonlinear filter form of the adaptive fading filter. The stability analysis of the AFEKF is based on the analysis result of Reif and co-authors for the EKF. From the analysis results, this paper shows the upper bounded condition of the error covariance for the filter stability and the bounded value of the estimation error.