Robust Hybrid Kalman Filter for a Class of Nonlinear Systems

Bharani P. Malladi, Ricardo G. Sanfelice, Eric A. Butcher

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Scopus citations


Motivated by real-world applications with intermittent sensor data, an extended Kalman filter is formulated as a hybrid system and constructive conditions on its parameters guaranteeing an asymptotic stability property are provided. The dynamical properties of the estimation error are first characterized infinitesimally so to yield bounds on the rate of convergence and overshoot that depend on the parameters. By recasting the problem as the stabilization of a compact set, robustness properties of the proposed algorithm in the presence of disturbances in the system dynamics as well as measurement noise in the output are established. The proposed strategy is applied to spacecraft relative motion control with position-only measurements.

Original languageEnglish (US)
Title of host publication2018 Annual American Control Conference, ACC 2018
PublisherInstitute of Electrical and Electronics Engineers Inc.
Number of pages6
ISBN (Print)9781538654286
StatePublished - Aug 9 2018
Event2018 Annual American Control Conference, ACC 2018 - Milwauke, United States
Duration: Jun 27 2018Jun 29 2018

Publication series

NameProceedings of the American Control Conference
ISSN (Print)0743-1619


Other2018 Annual American Control Conference, ACC 2018
Country/TerritoryUnited States

ASJC Scopus subject areas

  • Electrical and Electronic Engineering


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