| bibtype |
C -
Conference Paper (international conference)
|
| ARLID |
0377943 |
| utime |
20240111140817.8 |
| mtime |
20120717235959.9 |
| WOS |
000310776205016 |
| DOI |
10.1109/ACC.2012.6315366 |
| title
(primary) (eng) |
Kalman Filter Under Nonlinear System Transformations |
| specification |
| page_count |
6 s. |
| media_type |
C |
|
| serial |
| ARLID |
cav_un_epca*0377942 |
| ISBN |
978-1-4577-1094-0 |
| title
|
Proceedings of the 2012 American Control Conference |
| page_num |
4789-4794 |
| publisher |
| place |
Montréal, Québec |
| name |
IEEE |
| year |
2012 |
|
|
| keyword |
nonlinear systems |
| keyword |
dynamic systems |
| keyword |
walking robots |
| author
(primary) |
| ARLID |
cav_un_auth*0279330 |
| name1 |
Dolinský |
| name2 |
Kamil |
| full_dept (cz) |
Teorie řízení |
| full_dept (eng) |
Department of Control Theory |
| department (cz) |
TŘ |
| department (eng) |
TR |
| institution |
UTIA-B |
| full_dept |
Department of Control Theory |
| fullinstit |
Ústav teorie informace a automatizace AV ČR, v. v. i. |
|
| author
|
| ARLID |
cav_un_auth*0101074 |
| name1 |
Čelikovský |
| name2 |
Sergej |
| full_dept (cz) |
Teorie řízení |
| full_dept |
Department of Control Theory |
| department (cz) |
TŘ |
| department |
TR |
| institution |
UTIA-B |
| full_dept |
Department of Control Theory |
| fullinstit |
Ústav teorie informace a automatizace AV ČR, v. v. i. |
|
| source |
| source_type |
textový dokument |
| source_size |
481 kB |
|
| cas_special |
| project |
| project_id |
GAP103/12/1794 |
| agency |
GA ČR |
| country |
CZ |
| ARLID |
cav_un_auth*0283207 |
|
| project |
| project_id |
LG12015 |
| agency |
GA MŠk |
| country |
CZ |
| ARLID |
cav_un_auth*0281704 |
|
| abstract
(eng) |
This article deals with state estimation and filtering in nonlinear systems. More precisely the design of approximate nonlinear Kalman filter for nonlinear systems linearizable by a nonlinear coordinate transformation with possible application of nonlinear output injection is studied. The main idea is to reduce the errors introduced by the linearization used by the approximate filter using exact full or partial linearization of the system. Underlying transformations of both deterministic and stochastic signals are studied. An example of designing such an approximate nonlinear filter for nonlinear tracking of walking like motion of bipedal robot is given. |
| action |
| ARLID |
cav_un_auth*0282016 |
| name |
The 2012 American Control Conference (ACC) |
| place |
Montréal |
| dates |
27.06.2012-29.06.2012 |
| country |
CA |
|
| reportyear |
2013 |
| RIV |
BC |
| num_of_auth |
2 |
| presentation_type |
PR |
| inst_support |
RVO:67985556 |
| permalink |
http://hdl.handle.net/11104/0209953 |
| arlyear |
2012 |
| mrcbU34 |
000310776205016 WOS |
| mrcbU56 |
textový dokument 481 kB |
| mrcbU63 |
cav_un_epca*0377942 Proceedings of the 2012 American Control Conference 978-1-4577-1094-0 4789 4794 Montréal, Québec IEEE 2012 IEEE Catalog #:CFP12ACC-CDR |
|