Estimation, Filtering and Detection

Garant předmětu:

Vladimír Havlena

Přednášející:

Vladimír Havlena

Cvičící:

Vít Fanta, Vladimír Havlena

Předmět zajišťuje:

katedra řídicí techniky

Anotace:

This course will cover description of the uncertainty of hidden variables (parameters and state of a dynamic system) using the probability language and methods for their estimation. Based on bayesian problem formulation principles of rational behavior under uncertainty will be analyzed and used to develop algorithms for parameter estimations (ARX models, Gaussian process regression), filtering (Kalman filter) and detection (likelihood ratio theory) . We will demonstrate numerically robust implementation of the algorithms applicable in real life problems for the areas of industrial process control, robotics and avionics.

Požadavky:

Basics of dynamic system theory, probability and statistics.

Osnova přednášek:

1. Review of basic concepts of statistics

2. MS, LMS and ML estimation

3. Bayesian approach to uncertainty description, model of dynamic system

4. Identification of ARX model parameters

5. Tracking of time varying parameters, forgetting, prior information

6. Numerically robust algorithms for parameter estimation

7. Gaussian process regression

8. Stochastic system, probabilistic state definition, Kalman filter

9. Kalman filter for colored noise, extended Kalman filter

10. Stochastic dynamic programming, LQ and LQG controller, certainty equivalence principle

11. Fault detection and isolation methods

12. Likelihood ratio - theory and applications

13. Nonlinear estimation - local vs. global approximation

14. Monte Carlo methods

Osnova cvičení:

Individual assigments - implementation of selected algorithms in Matlab, solution of individual technical problems. Deliverables: running algorithm, technical report.

Homeworks: theoretical assignments. Deliverables: report.

Cíle studia:

Ability to solve engineering problems in the area of estimation and filtering, using rigorous theoretical background.

Studijní materiály:

Lewis, F. L., L. Xie, D. Popa: Optimal and Robust Estimation: With an Introduction to Stochastic Control Theory, CRC Press, 2005. ISBN 978-1-4200-0829-6

Simon, D.: Optimal State Estimation: Kalman, H Infinity, and Nonlinear Approaches. Wiley, 2006, ISBN: 978-0-471-70858-2

Lectures - published on WEB/Moodle

Assignments-homework - published on WEB/Moodle

Poznámka:

Rozsah 3+1

Další informace:

http://dce.fel.cvut.cz/studium/estimation-filtering-and-detection

Rozvrh na zimní semestr 2024/2025:

Rozvrh není připraven

Rozvrh na letní semestr 2024/2025:

Rozvrh není připraven

Předmět je součástí následujících studijních plánů:

• Cybernetics and Robotics (povinně volitelný předmět)