An Augmented Automatic Choosing Control of a Formal Linearization Filter Type for Nonlinear Systems

抄録

This paper is concerned with single nonlinear feedback control for nonlinear systems with noisy measurement. A given nonlinear system is linearized piecewise to design the linear optimal controllers, which are then smoothly united into a single nonlinear feedback controller by an automatic choosing function. The state estimation is carried out using a nonlinear filter on the basis of the following formal linearization. This filter is synthesized by applying the extended Kalman filter technique to the augmented system that adds some polynomials of nonlinear measurement terms to the given nonlinear system. This is called an augmented automatic choosing control of a formal linearization filter type (AACCFLF). Simulation results are shown to demonstrate the effectiveness of the proposed method.