Robust state estimation for systems with irregular sensing failure
Robust state estimation for systems with irregular sensing failure
复制标题
DOI：
10.1109/icnsc.2009.4919243
复制
发表时间：
2009-03
期刊：
影响因子：
--
通讯作者：
Kensuke Nagai;Yukinori Nakamura;Kenji Sugimoto
中科院分区：
文献类型：
--
作者：
Kensuke Nagai;Yukinori Nakamura;Kenji Sugimoto
提出了一种具有不规则感知故障的系统鲁棒状态估计方法。由于传感失效，非接触式传感器有时会发出异常信号（异常值），这是很自然的。该估计器切换观测器增益，根据估计和观测值之间的残差值选择正态信号。一个通用的李雅普诺夫函数保证了切换观测器的稳定性，以及它的噪声特性。通过数值模拟和实验验证了该方法的有效性。
This paper proposes a method for robust state estimation for systems with irregular sensing failure. It is natural that non-contact sensors sometimes give abnormal signals (outliers) due to sensing failure. The proposed estimator switches observer gains to select normal signals based on residual values between estimation and observation. A common Lyapunov function ensures stability of the switching observer, as well as its noise property. A numerical simulation and experiment are performed to illustrate the effectiveness of the proposed method.