Guaranteed State Estimation for Nonlinear Discrete-Time Systems via Indirectly Implemented Polytopic Set Computation
Guaranteed State Estimation for Nonlinear Discrete-Time Systems via Indirectly Implemented Polytopic Set Computation
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DOI：
10.1109/tac.2018.2816262
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发表时间：
2018-03
影响因子：
6.8
通讯作者：
J. Wan;Sanjay K. Sharma;R. Sutton
中科院分区：
文献类型：
--
作者：
J. Wan;Sanjay K. Sharma;R. Sutton
本文提出了一种新的集员技术来间接实现非线性离散时间系统的多面体集计算。提出的集员技术被应用于解决非线性离散时间系统的有界噪声和参数描述的保状态估计问题。在文献中这个问题的一个常见的做法是搜索一个最佳zonotope绑定的交叉点的演变不确定的状态轨迹和区域的状态空间一致的观察输出在每个观察更新。新方法保持了由相交产生的多面体集的完整性，并通过精确地表示由zonotopes相交的多面体集来计算下一个时间步的完整多面体集的演化。这种方法避免了每次观测更新时的过逼近定界过程，从而可以获得更准确的状态估计。一个说明性的例子来证明所提出的保证状态估计通过间接实现多面体集计算的有效性。
This paper proposes a new set-membership technique to implement polytopic set computation for nonlinear discrete-time systems indirectly. The proposed set-membership technique is applied to solve the guaranteed state estimation problem for nonlinear discrete-time systems with a bounded description of noises and parameters. A common practice for this problem in the literature is to search an optimal zonotope to bound the intersection of the evolved uncertain state trajectory and the region of the state space consistent with the observed output at each observation update. The new approach keeps the polytopic set resulting from the intersection intact and computes the evolution of this intact polytopic set for the next time step through representing the polytopic set exactly by the intersection of zonotopes. Such an approach avoids the overapproximation bounding process at each observation update, and thus, a more accurate state estimation can be obtained. An illustrative example is provided to demonstrate the effectiveness of the proposed guaranteed state estimation via indirectly implemented polytopic set computation.