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This paper deals with the problem of input/output-to-state stability (IOSS) of direct-form digital filters, which simultaneously contain external disturbances and two's complement nonlinearity. The nonlinearity under consideration is confined to the sector [–1, 1], which contains saturation, zeroing, two's complement and triangular.

The proposed condition is based on IOSS approach, which is capable of providing a framework for checking and analysing the stability of nonlinear system based on input as well as output information.

A linear matrix inequality (LMI)-based new sufficient criterion for the IOSS of the suggested system is obtained. The obtained criterion is capable of detecting the output-to-state stability (OSS) and asymptotic stability of direct-form digital filters with zero external disturbances. In addition, state-norm estimator for the filter under consideration is constructed by adopting an exponential-decay IOSS criterion. Several examples are provided to illustrate the usefulness of the proposed criteria.

The result of the paper is introduced for the first time, and it is suitable for stability analysis of interfered direct-form digital filter with two's complement overflow using IOSS approach.

The purpose of this paper is to develop a new criterion for the exponential stability and

_∞ performance of state-space digital filters under the influence of any combination of quantization/overflow nonlinearities.

The proposed criterion uses the

_∞ approach that is suitable for the design of discrete system in the presence of external disturbance. Analysis and synthesis in an

_∞ setting is advantageous as it proposes effective disturbance attenuation, less sensitivity to uncertainties and many practical applications.

The criterion not only guarantees exponential stability but also reduces the effect of external interference. A numerical example demonstrating the effectiveness of the proposed method is given.

The main result of the paper is reported for the first time and it is useful to ensure the stability of digital filters in the presence of external disturbance and any combination of quantization/overflow nonlinearities.

Regarding the important roles of accuracy and robustness of tightly-coupled micro inertial measurement unit (MIMU)/global navigation satellite system (GNSS) for unmanned aerial vehicle (UAV). This study aims to explore the efficient method to improve the real-time performance of the sensors.

A covariance shaping adaptive Kalman filtering method is developed. For optimal performance of multiple gyros and accelerometers, a distribution coefficient of precision is defined and the data fusion least square method is applied with fault detection and identification using the singular value decomposition. A dual channel parallel filter scheme with a covariance shaping adaptive filter is proposed.

Hardware-in-the-loop numerical simulation was adopted, the results indicate that the gain of the covariance shaping adaptive filter is self-tuning by changing covariance weighting factor, which is calculated by minimizing the cost function of Frobenius norm. With the improved method, the positioning accuracy with tightly-coupled MIMU/GNSS of the adaptive Kalman filter is increased obviously.

The method of covariance shaping adaptive Kalman filtering is efficient to improve the accuracy and robustness of tightly-coupled MIMU/GNSS for UAV in complex and dynamic environments and has great value for engineering applications.

A covariance shaping adaptive Kalman filtering method is presented and a novel dual channel parallel filter scheme with a covariance shaping adaptive filter is proposed, to improve the real-time performance in complex and dynamic environments.

This paper aims to design a tip state estimation method for a hybrid-structured flexible manipulator (HSFM) with one rotating joint and one telescopic joint in the vertical plane.

The HSFM model is decomposed into a static deflection model and a vibration model. The sliding discrete Fourier transform (SDFT) is used to filter the high frequency noise and obtain main vibration components to represent the vibration model. Then, a novel fuzzy logic adaptive Kalman filter (FLAKF) is designed to estimate the state of a vibrational equilibrium position. The complete tip state of the HSFM is obtained by superimposing the FLAKF filter results with the SDFT vibration analysis results.

Both the simulation results and physical experimental results verify the effectiveness of the proposed tip state estimation method. The vibration analysis based on SDFT is used to represent the vibration model and reduce the computational complexity in the process of solving differential equation. The proposed FLAKF can effectively increase the stability and robustness of the estimator.

In this paper, the tip state estimation problem of the HSFM in vertical plane is first proposed. The effect of gravity on the HSFM is considered by the static deflection model. A precise tip state estimator is designed by a closed loop SDFT and a novel FLAKF, which can provide an accurate feedback for the vibration control controller and make an accurate evaluation of the control effect.

Variable fractional delay filtering is an important technology in signal processing; the research shows that all-pass variable fractional delay (VFD) filters achieve higher design accuracy than FIR VFD filters; therefore, the design, analysis and implementation of all-pass VFD filters are of great importance.

In this paper, a two-stage approach for the design of general 1-D stable VFD all-pass filters is proposed. The method takes the desired group delay range [N−1, N], where N is the filter order.

The design algorithm is decomposed into two design stages: first, a set of fixed delay all-pass filters are designed by minimizing a set of objective functions defined in terms of approximating error criterion and filter stability constraint. Then, the design result is determined by fitting each of the fixed delay all-pass filter coefficients as 1-D polynomials. A design example together with its comparisons with those of the recent literature studies is given to justify the effectiveness of the proposed design method.

An illustrating design example shows that the method proposed can achieve better filter performances than the existing ones.

The purpose of this paper is to present a criterion for global asymptotic stability of state-space direct-form digital filters employing saturation arithmetic.

An elegant use of induced l _∞ approach (also known as a peak-to-peak approach) is made to develop a criterion for the overflow stability of state-space direct-form digital filters.

The criterion not only guarantees asymptotic stability but also reduces the effect of external interference. The presented method yields better interference attenuation level as compared to a recently reported method. Numerical examples are given to illustrate the effectiveness of the proposed method.

Digital filters are important dynamical systems in signal processing which are used for the processing of discrete signals. During the implementation of higher-order digital filter in hardware or software, introduction of external interference is unavoidable. Therefore, stability analysis of digital filters in the presence of external interference is of much practical importance.

The main result of the paper is reported for the first time and it is useful to establish the asymptotic stability of digital filters in the presence of external disturbances.

The purpose of this paper is to establish a criterion for the global asymptotic stability of fixed-point state–space digital filters using saturation overflow arithmetic.

The method of stability analysis used in this paper is the second method of Lyapunov. The approach in this paper makes use of a precise upper bound of the state vector of the system and a novel passivity property associated with the saturation nonlinearities.

The presented criterion leads to an enhanced stability region in the parameter-space as compared to several existing criteria.

When dealing with the design of fixed-point state–space digital filters, it is desirable to have a criterion for selecting the filter coefficients so that the designed filter becomes free of overflow oscillations. The criterion presented in this paper provides enhanced saturation overflow stability region and therefore facilitates the designer greater flexibility in selecting filter parameters for overflow oscillation-free realization of digital filters.

The approach uses the structural properties of the saturation nonlinearities in a greater detail. The exploitation of upper bound of the system state vector together with a new passivity property of saturation nonlinearities is a unique feature of the present approach. The presented approach may lead to results not covered by several existing approaches.

The successful use of the standard extended Kalman filter (EKF) is restricted by the requirement on the statistics information of the measurement noise. The covariance of the measurement noise may deviate from its nominal value in practical environment, and the filtering performance may decline because of the statistical uncertainty. Although the adaptive EKF (AEKF) is available for recursive covariance estimation, it is often less accurate than the EKF with accurate noise statistics.

Aiming at this problem, this paper develops a parallel adaptive EKF (PAEKF) by combining the EKF and the AEKF with an adaptive law, such that the final state estimate is dominated by the EKF when the prior noise covariance is accurate, while the AEKF is activated when the actual noise covariance deviates from its nominal value.

The PAEKF can reduce the sensitivity of the algorithm to the model uncertainty and ensure the estimation accuracy in the normal case. The simulation results demonstrate that the PAEKF has the advantage of both the AEKF and the EKF.

The presented algorithm is applicable for spacecraft relative attitude and position estimation.

The PAEKF is presented for a kind of nonlinear uncertain systems. Stability analysis is provided to show that the error of the estimator is bounded under certain assumptions.

This paper aims to present a method for improving the state estimation of a robot in the presence of noise measurement, which can improve the performance of the robot controller.

In this work, a novel nonlinear tracking differentiator (NTD) was formulated to solve the problems of phase lag, low stability and amplitude attenuation faced by traditional tracking differentiators, which can be used for the state estimation of a robot. Based on the user-defined function stu() with linear and nonlinear characteristics, the authors establish a new acceleration function of NTD and confirm its global asymptotic stability by using the Lyapunov method and the system equivalence method. Phase plane analysis shows that the origin is its stable nodal point or focus point and uncovers the basic constraint conditions for parameter regulation. In addition, the convergence property and robustness performance against noises are studied by describing function method.

Comparative simulations, robot state estimation experiments and joint trajectory tracking experiments have indicated that NTD proposed integrates tracking rapidness, accuracy and transitional stability and has high approximation and filtering effects on generalized derivatives of the signal, which contribute to an excellent performance of robot controller in stability and response speed in practice.

The main contribution of this paper lies in the design of a novel NTD, which successfully improves the state estimation of a robot joint in noisy surroundings, the tracking performance of robot controller and the stability of the system.

The purpose of this paper is to design a tool for IIR digital filters obtained from analog prototypes, which preserves simultaneously the amplitude and the group delay response.

A new s-to-z transform is developed based on a second order formula used for numerical integration of differential equations. Stability of the newly obtained transfer functions in the z-domain is proved to be preserved. Distortions introduced by the new transform into the original amplitude and group delay responses are studied.

The new formula, when implemented to all-pole prototypes, exhibits lower selectivity than the original while reducing the pass-band group delay distortions. In the same time its structure is importantly simpler than the functions obtained by the well-known bilinear transform. When implemented to a prototype having “all kinds” of transmission zeros the resulting filter has almost ideally the same characteristic as the prototype.

The new transform may be used exclusively to synthesize even order filters. The new function is twice the order of the analog prototype. This kind of transformations are used to design IIR digital filters only. Low-pass transfer functions were studied being prototypes for all other cases.

This is a new result never mentioned in the literature. Its effectiveness is confined to a niche problem when simultaneous sharp selectivity and low group delay distortions are sought.