Study on initial value problem for fractional-order cubature Kalman filters of nonlinear continuous-time fractional-order systems

To realize the state estimation of nonlinear continuous-time fractional-order systems, two types cubature Kalman filters are designed to solve problem on initial value influence. For first type filter (CKF), estimated system is also regarded as augmented state, and equation constructed obtain CKF based Grünwald–Letnikov difference. second CKF, hybrid extended-cubature proposed weaken influence by first-order Taylor expansion third-order spherical-radial rule. These methods can reduce effectively. Finally, effectiveness CKFs verified simulation examples.