rdf-syntax-grammar
mods:
  schema location: http://www.loc.gov/mods/v3 http://www.loc.gov/standards/mods/v3/mods-3-2.xsd
  title info:
    title: Estimation strategies for constrained and hybrid dynamical systems
  name:
    name part: Parish, Julie Marie Jones.
    role:
      role term: creator
  name:
    name part: Hurtado, John E.
    role:
      role term: thesis advisor.
  type of resource: text
  genre: bibliography
  origin info:
    place:
      place term: txu
    date issued: 2012
    issuance: monographic
  language:
    language term: eng
  physical description:
    form: remote
    extent: 1 online resource.
  abstract: The estimation approaches examined in this dissertation focus on manipulating system dynamical models to allow the well-known form of the continuous-discrete extended Kalman filter (CDEKF) to accommodate constrained and hybrid systems. This estimation algorithm filters sequential discrete measurements for nonlinear continuous systems modeled with ordinary differential equations. The aim of the research is to broaden the class of systems for which this common tool can be easily applied. Equality constraints, holonomic or nonholonomic, or both, are commonly found in the system dynamics for vehicles, spacecraft, and robotics. These systems are frequently modeled with differential algebraic equations. In this dissertation, three tools for adapting the dynamics of constrained systems for implementation in the CDEKF are presented. These strategies address (1) constrained systems with quasivelocities, (2) kinematically constrained redundant coordinate systems, and (3) systems for which an equality constraint can be broken. The direct linearization work for constrained systems modeled with quasi-velocities is demonstrated to be particularly useful for systems subject to nonholonomic constraints. Concerning redundant coordinate systems, the "constraint force" perspective is shown to be an effective approximation for facilitating implementation of the CDEKF while providing similar performance to that of the fully developed estimation scheme. For systems subject to constraint violation, constraint monitoring methods are presented that allow the CDEKF to autonomously switch between constrained and unconstrained models. The efficacy of each of these approaches is shown through illustrative examples. Hybrid dynamical systems are those modeled with both finite- and infinite-dimensional coordinates. The associated governing equations are integro-partial differential equations. As with constrained systems, these governing equations must be transformed in order to employ the CDEKF. H…
  note: by Julie Marie Jones Parish.
  note: "Major Subject: Aerospace Engineering"
  note: Electronic resource.
  note: Doctor of Philosophy Texas A&M University 2011 http://hdl.handle.net/1969.1/ETD-TAMU-2011-08-10148
  note: Includes bibliographical references.
  note: Text (Dissertation)
  subject:
    topic: Major Aerospace Engineering
  subject:
    topic: Estimation
  subject:
    topic: Constrained Systems
  subject:
    topic: Dynamics
  subject:
    topic: Hybrid Systems
  subject:
    topic: Linearization
  subject:
    topic: Kalman Filtering
  identifier: http://hdl.handle.net/1969.1/ETD-TAMU-2011-08-10148
  record info:
    record content source: TXA
    record creation date: 121127
    record change date: 20150922151114.0
    record identifier: in00002784774