A study on non-linear discrete-time state-space models and adaptive extended Kalman filter application on oscillatıon of an object tied to the end of spring

Abstract

In this work, Adaptive Extended Kalman Filter (AEKF) is introduced and its use for oscillation of an object connected to the end of a spring is shown. As a new approach, an AEKF is used as a nonlinear estimation tool for online estimation of the states and parameters of an oscillating object attached to the end of a spring model. Parameter states that do not change with time were examined. The simulation results revealed that with proper selection of initial values of AEKF, AEKF is a very useful tool for this particular application.

Keywords

• Noninear state-space models
• extended Kalman filter
• nonlinear estimation

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