System and Method for Adaptive Unscented Kalman Filter Using Selective Scaling

摘要

According to an embodiment of the present invention, a nonlinear control system based on an adaptive unscented Kalman filter applying a selective scaling technique comprises: a reference value generation unit for generating a required system output as a reference value; a control unit for receiving the generated reference value; a first synthesis unit for outputting a difference value by subtracting output values input by the control unit and an adaptive unscented Kalman filter; a second synthesis unit for generating an output value in which an output value of the first synthesis unit and a disturbance input value are merged; and a nonlinear output unit for receiving an output value of the second synthesis unit. Therefore, the convergence rate and successful estimation are improved.