Event-Triggered Extended Kalman Filter for Nonlinear Multi-Rate Systems
作者单位：School of Information Science and TechnologyDonghua University
会议名称：《第36届中国控制会议》
会议日期：2017年
学科分类：0809[工学-电子科学与技术（可授工学、理学学位）] 080902[工学-电路与系统] 08[工学]
基 金：supported in part by the National Natural Science Foundation of China under Grants 61473076 and 61673103 the Program for Professor of Special Appointment(Eastern Scholar)at Shanghai Institutions of Higher Learning the Fundamental Research Funds for the Central Universities the DHU Distinguished Young Professor Program
关 键 词：Event-triggering extended Kalman filter multi-rate systems nonlinear system
摘 要：In this paper,the event-triggered filtering problem is investigated for a class of nonlinear multi-rate systems.The nonlinearity is represented by a linear form with a norm-bounded uncertainty.In order to deal with the uncertainty resulting from the nonlinearities,a new augmentation approach is proposed to transform the multi-rate nonlinear system into a single-rate system.Based on the measurement outputs according to the event-triggering mechanism,an extended Kalman filter is adopted to estimate the systems state.Firstly,the upper bounds of the filtering error covariance are obtained at each sampling instant.Then,by recurring to the Lagrange multiplier method,the filter gains are obtained by minimizing the upper bound of the filtering error covariance.Finally,a simulation example is given to verify the effectiveness of the proposed filtering approach.