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Protocol-Based Unscented Kalman Filtering in the Presence of Stochastic Uncertainties.
- Source :
-
IEEE Transactions on Automatic Control . Mar2020, Vol. 65 Issue 3, p1303-1309. 7p. - Publication Year :
- 2020
-
Abstract
- In this paper, the unscented Kalman filtering (UKF) problem is investigated for a class of general nonlinear systems with stochastic uncertainties under communication protocols. A modified unscented transformation is put forward to account for stochastic uncertainties caused by modeling errors. For preventing data collisions and mitigating communication burden, the round-robin protocol and the weighted try-once-discard protocol are, respectively, introduced to regulate the data transmission order from sensors to the filter. Then, by employing two kinds of data-holding strategies (i.e., zero-order holder and zero input) for those nodes without transmission privilege, two novel protocol-based measurement models are formulated. Subsequently, by resorting to the sigma point approximation method, two resource-saving UKF algorithms are developed, where the impact from the underlying protocols on the filter design is explicitly quantified. Finally, compared with the protocol-based extended Kalman filtering algorithms, a simulation example is presented to demonstrate the effectiveness of the proposed protocol-based UKF algorithms. [ABSTRACT FROM AUTHOR]
Details
- Language :
- English
- ISSN :
- 00189286
- Volume :
- 65
- Issue :
- 3
- Database :
- Academic Search Index
- Journal :
- IEEE Transactions on Automatic Control
- Publication Type :
- Periodical
- Accession number :
- 143314036
- Full Text :
- https://doi.org/10.1109/TAC.2019.2929817