Estimation and Control of Nonlinear and Hybrid Systems

摘要

The research covers several aspects of the basic issues that are needed todevelop and implement nonlinear filtering and control of maneuvering vehicles in uncertain environments and nonlinear geometry. The research is involved in modelling maneuvering nonlinear vehicles as switched linear Markov models. The research therefore leads in several directions investigating various aspects of such models which in general are called hybrid systems. Three different aspects are considered: The first involves realization and other generic properties of hybrid systems, including controllability and stability as well as simulation and averaging. The second involves estimation and detection systems for hybrid systems, including various related models and approximate filtering schemes. The third involves the application of switched Markov filtering schemes to the tracking of maneuvering vehicles.