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A Comparison of H-Infinity With Kalman Filtering in Parameter Identification

[+] Author Affiliations
Kiriakos Kiriakidis, Richard T. O’Brien, Jr.

U.S. Naval Academy

Paper No. IMECE2005-81380, pp. 1169-1176; 8 pages
doi:10.1115/IMECE2005-81380
From:
  • ASME 2005 International Mechanical Engineering Congress and Exposition
  • Dynamic Systems and Control, Parts A and B
  • Orlando, Florida, USA, November 5 – 11, 2005
  • Conference Sponsors: Dynamic Systems and Control Division
  • ISBN: 0-7918-4216-9 | eISBN: 0-7918-3769-6
  • Copyright © 2005 by ASME

abstract

The authors perform a thorough investigation of the extended H-infinity and Kalman filters based on results from stiffness estimation experiments. The paper uses the time-varying tolerance method to tune the H-infinity filter. Exploring similarities in the associated Riccati equations, the authors also propose a new approach for tuning the Kalman filter. The experimental results show that the H-infinity outperforms the Kalman filter along a wide range of tuning parameter values.

Copyright © 2005 by ASME

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