Matches in SemOpenAlex for { <https://semopenalex.org/work/W2901316305> ?p ?o ?g. }
Showing items 1 to 93 of
93
with 100 items per page.
- W2901316305 abstract "Abstract This paper proposes a novel sub-optimal nonlinear moving horizon estimation (NMHE) algorithm tailored to underactuated mechanical systems. We utilize the special variational structure of the mechanical systems and achieve numerical integration in NMHE via variational integrators. The resulting NMHE algorithm is based on the optimal control method Discrete Mechanics and Optimal Control (DMOC). It has significantly less number of optimization variables and is numerically more efficient than the standard NMHE algorithm based on multiple-shooting (MS). We use detailed numerical analysis with a double pendulum on a cart system to demonstrate that the novel NMHE algorithm outperforms the famous Extended Kalman Filter and is more efficient than the standard NMHE approach based on MS and the partial condensing technique in the chosen application. We also show closed-loop simulation results with the combined DMOC-based NMHE-NMPC framework for the swing-up and stabilization of the double pendulum system." @default.
- W2901316305 created "2018-11-29" @default.
- W2901316305 creator A5059567942 @default.
- W2901316305 date "2018-01-01" @default.
- W2901316305 modified "2023-10-16" @default.
- W2901316305 title "Fast Nonlinear Moving Horizon Estimation with Discrete Mechanics and Optimal Control" @default.
- W2901316305 cites W1717366851 @default.
- W2901316305 cites W2013439434 @default.
- W2901316305 cites W2049670620 @default.
- W2901316305 cites W2072994709 @default.
- W2901316305 cites W2091638547 @default.
- W2901316305 cites W2091883880 @default.
- W2901316305 cites W2098816895 @default.
- W2901316305 cites W2128285126 @default.
- W2901316305 cites W2129276668 @default.
- W2901316305 cites W2130925922 @default.
- W2901316305 cites W2162358447 @default.
- W2901316305 cites W2610237097 @default.
- W2901316305 doi "https://doi.org/10.1016/j.ifacol.2018.10.178" @default.
- W2901316305 hasPublicationYear "2018" @default.
- W2901316305 type Work @default.
- W2901316305 sameAs 2901316305 @default.
- W2901316305 citedByCount "0" @default.
- W2901316305 crossrefType "journal-article" @default.
- W2901316305 hasAuthorship W2901316305A5059567942 @default.
- W2901316305 hasBestOaLocation W29013163051 @default.
- W2901316305 hasConcept C110639684 @default.
- W2901316305 hasConcept C121332964 @default.
- W2901316305 hasConcept C126255220 @default.
- W2901316305 hasConcept C127413603 @default.
- W2901316305 hasConcept C154945302 @default.
- W2901316305 hasConcept C157286648 @default.
- W2901316305 hasConcept C158622935 @default.
- W2901316305 hasConcept C167183279 @default.
- W2901316305 hasConcept C192921069 @default.
- W2901316305 hasConcept C2775924081 @default.
- W2901316305 hasConcept C2776257435 @default.
- W2901316305 hasConcept C31258907 @default.
- W2901316305 hasConcept C33923547 @default.
- W2901316305 hasConcept C41008148 @default.
- W2901316305 hasConcept C47446073 @default.
- W2901316305 hasConcept C52154503 @default.
- W2901316305 hasConcept C62520636 @default.
- W2901316305 hasConcept C78519656 @default.
- W2901316305 hasConcept C79518650 @default.
- W2901316305 hasConcept C91575142 @default.
- W2901316305 hasConceptScore W2901316305C110639684 @default.
- W2901316305 hasConceptScore W2901316305C121332964 @default.
- W2901316305 hasConceptScore W2901316305C126255220 @default.
- W2901316305 hasConceptScore W2901316305C127413603 @default.
- W2901316305 hasConceptScore W2901316305C154945302 @default.
- W2901316305 hasConceptScore W2901316305C157286648 @default.
- W2901316305 hasConceptScore W2901316305C158622935 @default.
- W2901316305 hasConceptScore W2901316305C167183279 @default.
- W2901316305 hasConceptScore W2901316305C192921069 @default.
- W2901316305 hasConceptScore W2901316305C2775924081 @default.
- W2901316305 hasConceptScore W2901316305C2776257435 @default.
- W2901316305 hasConceptScore W2901316305C31258907 @default.
- W2901316305 hasConceptScore W2901316305C33923547 @default.
- W2901316305 hasConceptScore W2901316305C41008148 @default.
- W2901316305 hasConceptScore W2901316305C47446073 @default.
- W2901316305 hasConceptScore W2901316305C52154503 @default.
- W2901316305 hasConceptScore W2901316305C62520636 @default.
- W2901316305 hasConceptScore W2901316305C78519656 @default.
- W2901316305 hasConceptScore W2901316305C79518650 @default.
- W2901316305 hasConceptScore W2901316305C91575142 @default.
- W2901316305 hasLocation W29013163051 @default.
- W2901316305 hasOpenAccess W2901316305 @default.
- W2901316305 hasPrimaryLocation W29013163051 @default.
- W2901316305 hasRelatedWork W1499835225 @default.
- W2901316305 hasRelatedWork W1550729230 @default.
- W2901316305 hasRelatedWork W1919130816 @default.
- W2901316305 hasRelatedWork W1974747271 @default.
- W2901316305 hasRelatedWork W2018104363 @default.
- W2901316305 hasRelatedWork W2046046672 @default.
- W2901316305 hasRelatedWork W2083283377 @default.
- W2901316305 hasRelatedWork W2084986010 @default.
- W2901316305 hasRelatedWork W2117450621 @default.
- W2901316305 hasRelatedWork W2127202422 @default.
- W2901316305 hasRelatedWork W2350100946 @default.
- W2901316305 hasRelatedWork W2519452711 @default.
- W2901316305 hasRelatedWork W2743366647 @default.
- W2901316305 hasRelatedWork W2773407441 @default.
- W2901316305 hasRelatedWork W2913980311 @default.
- W2901316305 hasRelatedWork W2968900061 @default.
- W2901316305 hasRelatedWork W3110685645 @default.
- W2901316305 hasRelatedWork W3166832042 @default.
- W2901316305 hasRelatedWork W3212855997 @default.
- W2901316305 hasRelatedWork W3213643811 @default.
- W2901316305 isParatext "false" @default.
- W2901316305 isRetracted "false" @default.
- W2901316305 magId "2901316305" @default.
- W2901316305 workType "article" @default.