Estimation of Nonlinear Hybrid Systems Using Second-Order Q-Adaptive Self-switched Derivative-Free Estimators

摘要

This paper introduces the adaptive versions of proposed self-switched estimators for a class of nonlinear hybrid systems. This proposed estimation scheme can eliminate the common disadvantage of conventional state estimators, that is the requirement of fairly accurate information about process noise covariances. To obtain a good compromise about computational complexity and estimation accuracy, a Q-adaptive (QA) state estimator based on derivative-free estimators like second-order CDKF and first-order CDKF has been proposed and employed in this work. The efficacy of the proposed estimators in comparison with QAEKF has been demonstrated through simulation studies on a benchmark problem, namely chemical stirred tank reactor (CSTR).