期刊
IEEE TRANSACTIONS ON AUTOMATIC CONTROL
卷 65, 期 3, 页码 1303-1309出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TAC.2019.2929817
关键词
Protocols; Stochastic processes; Uncertainty; Approximation algorithms; Nonlinear systems; Kalman filters; Time-varying systems; Communication protocols; Kalman filtering (KF); nonlinear systems; stochastic uncertainties; unscented transformation (UT)
资金
- National Natural Science Foundation of China [61873148, 61873169, U1509205]
- National Postdoctoral Program for Innovative Talents in China [BX20180202]
- Zhejiang Provincial Natural Science Foundation of China [LR16F030003]
- Alexander von Humboldt Foundation of Germany
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.
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