パーティクルフィルタを用いる状態フィードバック制御  [in Japanese] State Feedback Control using Particle Filter  [in Japanese]

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Author(s)

Abstract

Since the particle filter is able to apply to non-Gausian and nonlinear system models, it is capable of wide application than the Kalman filters. In this paper, a construction method of a state feedback control system using the particle filter as an observer for a probabilistic state estimation is described. In order to be robust to non-Gaussian noise, maximum a posteriori probability estimation extraction method and evaluation method of the effective sample size have been incorporated in the particle filter. Then, effectiveness of the constructed system is verified experimentally, and the effectiveness of the state observer constructed by the particle filter is indicated by comparison with the Kalman filter.

Journal

  • IEEJ Transactions on Electronics, Information and Systems

    IEEJ Transactions on Electronics, Information and Systems 133(7), 1376-1383, 2013-07-01

    The Institute of Electrical Engineers of Japan

References:  20

Codes

  • NII Article ID (NAID)
    10031182694
  • NII NACSIS-CAT ID (NCID)
    AN10065950
  • Text Lang
    JPN
  • Article Type
    ART
  • ISSN
    03854221
  • NDL Article ID
    024778815
  • NDL Call No.
    Z16-795
  • Data Source
    CJP  NDL  J-STAGE 
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