Enhancement of the Moving Horizon Estimation Performance Based on an Adaptive Estimation Algorithm

<div>Evolution of the sequence of (a) forgetting factor <svg height="12.5794pt" id="M201" style="vertical-align:-3.29107pt" version="1.1" viewbox="-0.0498162 -9.28833 21.6832 12.5794" width="21.6832pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M300 -147C201 -63 143 98 143 270S200 602 300 686L282 710C136 610 70 450 70 271V270C70 89 136 -72 282 -170L300 -147Z"></path></g><g transform="matrix(.013,0,0,-0.013,4.498,0)"><path d="M529 97L508 118C475 75 449 58 438 58C428 58 421 66 415 104C393 234 374 403 364 496C345 670 307 712 254 712C220 712 174 691 153 669L161 645C176 653 194 658 206 658C237 658 261 640 278 562C287 522 290 483 293 434C223 269 110 105 23 9L32 -12C59 -6 85 0 108 7C152 64 251 252 300 366C307 297 315 221 337 82C346 24 363 -12 393 -12C425 -12 475 13 529 97Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,12.259,3.132)"><path d="M443 572C443 635 407 665 362 665C328 665 293 654 255 623C199 577 159 509 120 338L105 272C80 250 53 230 24 211L32 182C54 195 77 210 98 226L86 167C72 99 77 49 95 24C112 1 141 -12 174 -12C246 -12 320 36 371 105L354 129C324 97 265 54 218 54C175 54 148 87 170 191L188 277C294 349 443 451 443 572ZM380 569C380 486 267 383 198 330L218 413C256 564 284 626 332 626C362 626 380 601 380 569Z"></path></g><g transform="matrix(.013,0,0,-0.013,17.023,0)"><path d="M275 270C275 450 212 609 64 710L45 686C145 604 203 442 203 270S147 -63 45 -147L64 -170C213 -68 275 89 275 270Z"></path></g></svg> and (b) dead zone function <span class="nowrap"><svg height="12.5794pt" id="M202" style="vertical-align:-3.29107pt" version="1.1" viewbox="-0.0498162 -9.28833 20.9786 12.5794" width="20.9786pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M300 -147C201 -63 143 98 143 270S200 602 300 686L282 710C136 610 70 450 70 271V270C70 89 136 -72 282 -170L300 -147Z"></path></g><g transform="matrix(.013,0,0,-0.013,4.498,0)"><path d="M545 106L524 126C493 85 467 65 455 65C438 65 427 113 405 238C448 295 498 362 543 439L533 448L478 435C453 386 423 331 398 295H395C370 404 347 448 282 448C169 448 23 309 23 153C23 54 65 -12 128 -12C203 -12 283 70 339 155H341C360 29 380 -12 411 -12C444 -12 491 11 545 106ZM333 204C265 95 210 54 169 54C137 54 113 96 113 171C113 302 191 405 252 405C301 405 318 306 333 204Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,11.557,3.132)"><path d="M443 572C443 635 407 665 362 665C328 665 293 654 255 623C199 577 159 509 120 338L105 272C80 250 53 230 24 211L32 182C54 195 77 210 98 226L86 167C72 99 77 49 95 24C112 1 141 -12 174 -12C246 -12 320 36 371 105L354 129C324 97 265 54 218 54C175 54 148 87 170 191L188 277C294 349 443 451 443 572ZM380 569C380 486 267 383 198 330L218 413C256 564 284 626 332 626C362 626 380 601 380 569Z"></path></g><g transform="matrix(.013,0,0,-0.013,16.321,0)"><path d="M275 270C275 450 212 609 64 710L45 686C145 604 203 442 203 270S147 -63 45 -147L64 -170C213 -68 275 89 275 270Z"></path></g></svg>.</span></div>

Journal of Control Science and Engineering

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Figure 2

Figure 2: Enhancement of the Moving Horizon Estimation Performance Based on an Adaptive Estimation Algorithm 