{"id":"https://openalex.org/W7148294696","doi":"https://doi.org/10.48550/arxiv.2604.00309","title":"Nonlinear Moving-Horizon Estimation Using State- and Control-Dependent Models","display_name":"Nonlinear Moving-Horizon Estimation Using State- and Control-Dependent Models","publication_year":2026,"publication_date":"2026-03-31","ids":{"openalex":"https://openalex.org/W7148294696","doi":"https://doi.org/10.48550/arxiv.2604.00309"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2604.00309","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2604.00309","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2604.00309","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5132816697","display_name":"Mohammadreza Kamaldar","orcid":null},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Kamaldar, Mohammadreza","raw_affiliation_strings":[],"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5132816697"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":0.37790000438690186,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":0.37790000438690186,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11236","display_name":"Control Systems and Identification","score":0.19629999995231628,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.056699998676776886,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.6596999764442444},{"id":"https://openalex.org/keywords/observability","display_name":"Observability","score":0.6333000063896179},{"id":"https://openalex.org/keywords/iterated-function","display_name":"Iterated function","score":0.5993000268936157},{"id":"https://openalex.org/keywords/jacobian-matrix-and-determinant","display_name":"Jacobian matrix and determinant","score":0.535099983215332},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.534600019454956},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5235999822616577},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.5084999799728394},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.5002999901771545},{"id":"https://openalex.org/keywords/bounded-function","display_name":"Bounded function","score":0.48100000619888306},{"id":"https://openalex.org/keywords/filter","display_name":"Filter (signal processing)","score":0.4397999942302704}],"concepts":[{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.6596999764442444},{"id":"https://openalex.org/C36299963","wikidata":"https://www.wikidata.org/wiki/Q1369844","display_name":"Observability","level":2,"score":0.6333000063896179},{"id":"https://openalex.org/C140479938","wikidata":"https://www.wikidata.org/wiki/Q5254619","display_name":"Iterated function","level":2,"score":0.5993000268936157},{"id":"https://openalex.org/C200331156","wikidata":"https://www.wikidata.org/wiki/Q506041","display_name":"Jacobian matrix and determinant","level":2,"score":0.535099983215332},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.534600019454956},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5235999822616577},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.5084999799728394},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.5002999901771545},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.5001000165939331},{"id":"https://openalex.org/C34388435","wikidata":"https://www.wikidata.org/wiki/Q2267362","display_name":"Bounded function","level":2,"score":0.48100000619888306},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.4397999942302704},{"id":"https://openalex.org/C129844170","wikidata":"https://www.wikidata.org/wiki/Q41299","display_name":"Quadratic equation","level":2,"score":0.43290001153945923},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.42820000648498535},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.39160001277923584},{"id":"https://openalex.org/C167928553","wikidata":"https://www.wikidata.org/wiki/Q1376021","display_name":"Estimation theory","level":2,"score":0.3736000061035156},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.35409998893737793},{"id":"https://openalex.org/C159694833","wikidata":"https://www.wikidata.org/wiki/Q2321565","display_name":"Iterative method","level":2,"score":0.3529999852180481},{"id":"https://openalex.org/C155512373","wikidata":"https://www.wikidata.org/wiki/Q287450","display_name":"Residual","level":2,"score":0.3508000075817108},{"id":"https://openalex.org/C115527620","wikidata":"https://www.wikidata.org/wiki/Q769909","display_name":"Nonlinear programming","level":3,"score":0.35040000081062317},{"id":"https://openalex.org/C119247159","wikidata":"https://www.wikidata.org/wiki/Q1366192","display_name":"System identification","level":3,"score":0.34929999709129333},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3490999937057495},{"id":"https://openalex.org/C137685913","wikidata":"https://www.wikidata.org/wiki/Q4316763","display_name":"Nonlinear filter","level":4,"score":0.3422999978065491},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.32600000500679016},{"id":"https://openalex.org/C55689738","wikidata":"https://www.wikidata.org/wiki/Q15963867","display_name":"Discrete time and continuous time","level":2,"score":0.3222000002861023},{"id":"https://openalex.org/C39425265","wikidata":"https://www.wikidata.org/wiki/Q7098944","display_name":"Optimal estimation","level":2,"score":0.3181000053882599},{"id":"https://openalex.org/C11210021","wikidata":"https://www.wikidata.org/wiki/Q1520713","display_name":"Linearization","level":3,"score":0.3003999888896942},{"id":"https://openalex.org/C57869625","wikidata":"https://www.wikidata.org/wiki/Q1783502","display_name":"Rate of convergence","level":3,"score":0.29910001158714294},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.2904999852180481},{"id":"https://openalex.org/C6802819","wikidata":"https://www.wikidata.org/wiki/Q1072174","display_name":"Linear system","level":2,"score":0.2849999964237213},{"id":"https://openalex.org/C81845259","wikidata":"https://www.wikidata.org/wiki/Q290117","display_name":"Quadratic programming","level":2,"score":0.2842000126838684},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.2816999852657318},{"id":"https://openalex.org/C198927703","wikidata":"https://www.wikidata.org/wiki/Q4373881","display_name":"Sequential quadratic programming","level":3,"score":0.274399995803833},{"id":"https://openalex.org/C126780896","wikidata":"https://www.wikidata.org/wiki/Q899871","display_name":"Distortion (music)","level":4,"score":0.2720000147819519},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.265500009059906}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2604.00309","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2604.00309","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2604.00309","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2604.00309","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,18,35,47,53,93,134,154],"state-":[4,27],"and":[5,28,81,88,118,153],"control-dependent":[6,29],"moving-horizon":[7,36,157],"estimation":[8,37,120,145],"(SCD-MHE)":[9],"algorithm":[10],"for":[11],"nonlinear":[12,22,71,156],"discrete-time":[13],"systems.":[14],"Within":[15],"this":[16],"framework,":[17,96],"pseudo-linear":[19],"representation":[20],"of":[21,56,114,168],"dynamics":[23],"is":[24,39,50,108],"leveraged":[25],"utilizing":[26,133],"coefficients,":[30],"where":[31],"the":[32,76,82,99,112,115,141,149,151],"solution":[33],"to":[34,69,75,110,148],"problem":[38],"iteratively":[40],"refined.":[41],"At":[42],"each":[43],"discrete":[44],"time":[45],"step,":[46],"quadratic":[48],"program":[49],"executed":[51],"over":[52,165],"sliding":[54],"window":[55],"historical":[57],"measurements.":[58],"Moreover,":[59],"system":[60,138],"matrices":[61],"are":[62,90,122],"consecutively":[63],"updated":[64],"based":[65],"upon":[66],"prior":[67],"iterates":[68],"capture":[70],"regimes.":[72],"In":[73],"contrast":[74],"extended":[77],"Kalman":[78,84],"filter":[79,85],"(EKF)":[80],"unscented":[83],"(UKF),":[86],"nonlinearities":[87],"bounds":[89],"accommodated":[91],"within":[92],"structured":[94],"optimization":[95],"thereby":[97],"circumventing":[98],"reliance":[100],"on":[101],"local":[102],"Jacobian":[103],"matrices.":[104],"Furthermore,":[105],"theoretical":[106],"analysis":[107],"presented":[109],"establish":[111],"convergence":[113],"iterative":[116],"sequence,":[117],"bounded":[119],"errors":[121],"mathematically":[123],"guaranteed":[124],"under":[125],"uniform":[126],"observability":[127],"conditions.":[128],"Finally,":[129],"comparative":[130],"numerical":[131],"experiments":[132],"quadrotor":[135],"vertical":[136],"kinematics":[137],"demonstrate":[139],"that":[140],"SCD-MHE":[142],"achieves":[143],"superior":[144],"accuracy":[146],"relative":[147],"EKF,":[150],"UKF,":[152],"fully":[155],"estimator,":[158],"while":[159],"reducing":[160],"per-step":[161],"computational":[162],"latency":[163],"by":[164],"an":[166],"order":[167],"magnitude.":[169]},"counts_by_year":[],"updated_date":"2026-04-03T16:44:17.987007","created_date":"2026-04-03T00:00:00"}