Aerospace Engineering

Indian Institute of Technology Kanpur

Aerospace Seminar on: State Estimation: Cubature Filters and Sliding Mode Observers

Speaker: Dr. Bharani Chandra Kumar Pakki, Post-doctoral researcher at the University of Exeter
Date: Wednesday (7th January, 2015)
Time: 03:30 pm
Venue: Seminar room, Aerospace Engineering
Tea will be served at 3:15 pm.


State estimation plays a key role in several real life applications. In most of the cases it is not advisable to measure the complete states of the system due to system limitations or the sensors used for measurements are bulky, noisy or expensive. In this talk two classes of state estimators will be presented. The first class consists of recently developed cubature filters namely cubature information filters and cubature H-infinity filters. Cubature information filters are developed in information domain and they can easily be extended for multiple sensors, whereas cubature H-infinity filters are deveoped by fusing cubature Kalman filter and H-infinity filter and can handle non-Gaussian noise. The square root versions of these filters are further developed for numerical accuracy. The efficacy of these filters are validated on SLAM (simultaneous localisation and mapping) problem. The next class of filters consist of LPV (linear parameter varying) sliding mode observer. This observer has a capability to deal with inexact scheduling parameter knowledge. Further, it is developed to reconstruct the faults. This observer is then used to reconstruct the actuator faults of a high-fidelity aircraft model.

Biographical Sketch of Speaker

Bharani Chandra Kumar Pakki received B.Tech degree from JNTU, Hyderabad, India, M.Tech in Control Systems from College of Engineering, Thiruvananthapuram, India and Ph.D from University of Leicester, UK. Before joining Ph.D, for a short period, he worked as a research assistant at Dept. of Aerospace Engineering at IISc, Bangalore and at IIT-Bombay, India. He also worked as an assistant Professor at GMRIT, India and was a Team lead, Control Systems Group at Coral Digital Technologies (P) Ltd., Bangalore, India. Currently he is a post-doctoral researcher at the University of Exeter.

His research interests include control systems design, state estimation and robotics. He has published a few papers in refereed conferences and journals.