Nonlinear Constrained Moving Horizon Estimation Applied to Vehicle Position Estimation [PDF]
Sensors, 2019 The design of high–performance state estimators for future autonomous vehicles constitutes a challenging task, because of the rising complexity and demand for operational safety.
Jonathan Brembeck
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Real-Time Cascaded State Estimation Framework on Lie Groups for Legged Robots Using Proprioception [PDF]
BiomimeticsThis paper proposes a cascaded state estimation framework based on proprioception for robots. A generalized-momentum-based Kalman filter (GMKF) estimates the ground reaction forces at the feet through joint torques, which are then input into an error ...
Botao Liu +6 more
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Rate of Penetration Optimization using Moving Horizon Estimation [PDF]
Modeling, Identification and Control, 2016 Increase of drilling safety and reduction of drilling operation costs, especially improvement of drilling efficiency, are two important considerations in the oil and gas industry. The rate of penetration (ROP, alternatively called as drilling speed) is
Dan Sui, Bernt Sigve Aadnøy
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Moving Horizon State Estimation for Linear System with Application to Autonomous Vehicle
InPrime, 2023 This paper proposes moving horizon estimation (MHE) to estimate the state variables of autonomous vehicle linear systems under measurement noises. To solve the MHE optimization problem, quadratic programming is employed.
Heri Purnawan +4 more
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Distributed moving horizon estimation for nonlinear constrained systems [PDF]
IEEE Transactions on Automatic Control, 2010 AbstractIn this paper we consider a nonlinear constrained system observed by a sensor network and propose a distributed state estimation scheme based on moving horizon estimation (MHE). In order to embrace the case where the whole system state cannot be reconstructed from data available to individual sensors, we resort to the notion of MHE ...
Marcello Farina +2 more
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PENC: a predictive-estimative nonlinear control framework for robust target tracking of fixed-wing UAVs in complex urban environments [PDF]
Scientific ReportsTarget tracking for fixed-wing unmanned aerial vehicles (UAVs) in complex urban environments faces challenges including potential target state loss and occlusion by multiple obstacles, typically large vertical structures like high-rise buildings.
Shiji Hai +4 more
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Sensor Selection and State Estimation of Continuous mAb Production Processes
Mathematics, 2023 The production of monoclonal antibodies (mAbs) plays a pivotal role in therapeutic treatments, and optimizing their production is crucial for minimizing costs and improving their accessibility to patients.
Sandra A. Obiri +4 more
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Suboptimal Nonlinear Moving Horizon Estimation
IEEE Transactions on Automatic Control, 2023 Published in: IEEE Transactions on Automatic Control (Early Access)
Julian D. Schiller, Matthias A. Müller
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Metamorphic moving horizon estimation [PDF]
Automatica, 2018 This paper considers a practical scenario where a classical estimation method might have already been implemented on a certain platform when one tries to apply more advanced techniques such as moving horizon estimation (MHE). We are interested to utilize MHE to upgrade, rather than completely discard, the existing estimation technique. This immediately
Kong, He, Sukkarieh, Salah
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Robust Explicit Moving Horizon Control and Estimation: A Batch Polymerization Case Study [PDF]
Modeling, Identification and Control, 2009 This paper focuses on the design and evaluation of a robust explicit moving horizon controller and a robust explicit moving horizon estimator for a batch polymerization process.
Dan Sui, Le Feng, Morten Hovd
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