Mixed ℋ︁2/ℋ︁∞ nonlinear filtering

In this paper, we consider the mixed ℋ︁2/ℋ︁∞ filtering problem for affine nonlinear systems. Sufficient conditions for the solvability of this problem with a finite‐dimensional filter are given in terms of a pair of coupled Hamilton–Jacobi–Isaacs equations (HJIEs). For linear systems, it is shown that these conditions reduce to a pair of coupled Riccati equations similar to the ones for the control case. Both the finite‐horizon and the infinite‐horizon problems are discussed. Simulation results are presented to show the usefulness of the scheme, and the results are generalized to include other classes of nonlinear systems. Copyright © 2008 John Wiley & Sons, Ltd.

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