Nonlinear Unknown Input Observer Based on Singular Value Decomposition Aided Reduced Dimension Cubature Kalman Filter

摘要

The paper presents a nonlinear unknown input observer (NUIO) based on singular value decomposition aided reduced dimension Cubature Kalman filter (SVDRDCKF) for a special class of nonlinear systems, the nonlinearity of which is only caused by part of its states. Firstly, the algorithm of general NUIO is discussed and the unknown input observer based on singular value decomposition aided Cubature Kalman filter (SVDCKF) given. Then a special nonlinear system model with unknown input is introduced. Based on the proposed model and the corresponding NUIO, the equivalent integral form with partial sampling and all sampling of the state vector in Cubature Kalman filter is analyzed. Finally the nonlinear unknown input observer based on singular value decomposition aided reduced dimension Cubature Kalman filter is obtained. Simulation results show that the proposed algorithm can meet the requirements of the system and is more important to increase the calculating efficiency a lot, although it has a decline in the accuracy of the filter.