A new filter named the maximum likelihood-based iterated divided difference filter (MLIDDF) is developed to improve the low state estimation accuracy of nonlinear state estimation due to large initial estimation errors and nonlinearity of measurement equations. The MLIDDF algorithm is derivative-free and implemented only by calculating the functional evaluations. The MLIDDF algorithm involves t...

Accurate State of Charge (SOC) estimation for lithium-ion batteries has great significance with respect to the correct decision-making and safety control. In this research, an improved second-order-polarization equivalent circuit (SO-PEC) modelling method is proposed. process estimating SOC, a joint algorithm, Adaptive Back Propagation Neural Network Unscented Kalman Filtering algorithm (ABP-UK...

Abstract: This paper presents an application of nonlinear filtering techniques for the tracking control design of tracked mobile robot under slip condition. The slip is represented only by the longitudinal wheels slip that is described by just an unknown parameter. The extended Kalman filter (EKF), the unscented Kalman filter (UKF) and the particle filter (PF) are used to estimate the states of...

This paper is motivated by the goal of a visual perception system for the RoboCup 2050 challenge to win against the human worldcup champion. Its contribution is to answer two questions on the subproblem of predicting the motion of a flying ball. First, if we could detect the ball in images, is that enough information to predict its motion precise enough? And second, how much do we lose by using...

In order to overcome the limitation of the traditional adaptive Unscented Kalman Filtering (UKF) algorithm in noise covariance estimation for statement and measurement, we propose a hybrid adaptive UKF algorithm based on combining Maximum a posteriori (MAP) criterion and Maximum likelihood (ML) criterion, in this paper. First, to prevent the actual noise covariance deviating from the true value...

Multi-sensor sonar tracking has many advantages, such as the potential to reduce the overall measurement uncertainty and the possibility to hide the receiver. However, the use of multi-target multi-sensor sonar tracking is challenging because of the complexity of the underwater environment, especially the low target detection probability and extremely large number of false alarms caused by reve...

The performance of the selective catalytic reduction (SCR) system has been confirmed to be distinctly affected by hydrothermal aging fault. In this paper, an observer based on Unscented-Kalman-Filter (UKF) algorithm theory is designed identify states so that SCR can more accurately and efficiently diagnosed fault-tolerant controlled. Furthermore, a model reference adaptive controller (MRAC) Lya...

The electrical network measurements by measuring device Phasor Measurement Device (PMU) are usually sent to the control centers using data acquisition system and other communication protocols available. However, these measurements contain uncertainties due to the measurements and communication noise (errors), incomplete metering or unavailability of some of measurements. The overall aim of stat...