Guaranteed state estimation by zonotopes

被引：465
|
作者：
Alamo, T
Bravo, JM
Camacho, EF
机构：
[1] Univ Seville, Dept Ingn Sistemas & Automat, Seville 41092, Spain
[2] Univ Huelva, Dept Ingn Elect Sistemas Informat & Automat, Huelva, Spain
来源：
AUTOMATICA | 2005年 / 41卷 / 06期
关键词：
non-linear observers; set-membership state estimation; interval analysis;
D O I：
10.1016/j.automatica.2004.12.008
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper presents a new approach to guaranteed state estimation for non-linear discrete-time systems with a bounded description of noise and parameters. The main result is an algorithm to compute a set that contains the states consistent with the measured output and the given noise and parameters. This set is represented by a zonotope. The size of the zonotope is minimized each sample time by an analytic expression or by solving a convex optimization problem. Interval arithmetic is used to calculate a guaranteed trajectory of the process state. Two examples have been provided to clarify the algorithm. (c) 2005 Elsevier Ltd. All rights reserved.
引用
收藏
页码：1035 / 1043
页数：9
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