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A two-stage Kalman estimator for motion control using model predictive strategy

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3 Author(s)
Liang Chen ; Dept. of Electr. Eng., Univ. of Shanghai for Sci. & Technol., China ; P. Mercorelli ; S. Liu

The paper proposes a hybrid Kalman filter integrating a robust and optimal algorithm for the use as an observer in model-varying predictive control (MVPC) of a nonlinear system. Moreover, a position MPC is derived in detail. Even though the proposed approach is quite general, a real case coming from automotive application is studied using computer simulation to demonstrate the effectiveness of the proposed technique. Simulations and results with real data are also discussed.

Published in:

Control, Automation, Robotics and Vision Conference, 2004. ICARCV 2004 8th  (Volume:3 )

Date of Conference:

6-9 Dec. 2004