State estimation of vehicles via asynchronous ICA filtering and sensor networks
| Project/Area Number |
20560419
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| Research Category |
Grant-in-Aid for Scientific Research (C)
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| Allocation Type | Single-year Grants |
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| Section | 一般 |
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| Research Field |
Control engineering
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| Research Institution | Nara Institute of Science and Technology |
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Principal Investigator |
SUGIMOTO Kenji Nara Institute of Science and Technology, 情報科学研究科, 教授 (20179154)
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| Co-Investigator(Kenkyū-buntansha) |
HIRATA Kentaro 奈良先端科学技術大学院大学, 情報科学研究科, 准教授 (00293902)
TACHIBANA Takuji 奈良先端科学技術大学院大学, 情報科学研究科, 助教 (20415847)
KOGISO Kiminao 奈良先端科学技術大学院大学, 情報科学研究科, 助教 (30379549)
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| Research Collaborator |
NAKAMURA Yukinori , 日本学術振興会特別研究員(DC2,PD)(本学後期課程修了生)
SUZUKI Arata 和歌山大学, システム工学部・光メカトロニクス学科, 講師(本学後期課程修了生)
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| Project Period (FY) |
2008 – 2010
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| Project Status |
Completed (Fiscal Year 2010)
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| Budget Amount *help |
¥4,680,000 (Direct Cost: ¥3,600,000、Indirect Cost: ¥1,080,000)
Fiscal Year 2010: ¥910,000 (Direct Cost: ¥700,000、Indirect Cost: ¥210,000)
Fiscal Year 2009: ¥1,170,000 (Direct Cost: ¥900,000、Indirect Cost: ¥270,000)
Fiscal Year 2008: ¥2,600,000 (Direct Cost: ¥2,000,000、Indirect Cost: ¥600,000)
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| Keywords | 状態推定 / 切替えオブザーバ / ロバスト推定 / センサ異常 / 外れ値 / 共通リアプノフ関数 |
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| Research Abstract |
This work proposes a design method￡or state estimation where many sensors collaborate via networks but some of them indicate outliers from time to time. In this method, we propose a mechanism called switching observer that continues correct state estimation by complimentary use of other sensor signals. We have examined its effectiveness by means of both simulation and experiment. A robust estimation is achieved by setting a common Lyapunov function and switched Lyapunov functions for designing the switching observer. Furthermore, we have also made a progress in heat capacity estimation by making full use of multivariate analysis techniques from a practical point of view.
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Report
(4 results)
Research Products
(33 results)
