2023
DOI: 10.1177/01423312221142119
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Tracking the trajectory of an object in a noisy environment with unknown statistics: A novel robust Kalman filter residue-based approach

Abstract: A novel robust Kalman filter (KF)-based controller design approach is proposed to accurately track a specified trajectory under unknown stochastic disturbance, known deterministic disturbance, and measurement noise. The system is nonlinear and is approximated by a piecewise-linear dynamic model. The Box–Jenkins model is an augmented model of the signal and the disturbance, is non-controllable and observable, while the signal model is controllable and observable. An emulator-based two-stage identification is em… Show more

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Cited by 3 publications
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