| Full text | |
| Author(s): |
Total Authors: 4
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| Affiliation: | [1] Univ Fed Minas Gerais, Grad Program Elect Engn, BR-31270901 Belo Horizonte, MG - Brazil
[2] Univ Fed Minas Gerais, Dept Elect Engn, BR-31270901 Belo Horizonte, MG - Brazil
[3] Clemson Univ, Dept Chem & Biomol Engn, Clemson, SC - USA
[4] Univ Pavia, Dept Elect Comp & Biomed Engn, Pavia - Italy
Total Affiliations: 4
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| Document type: | Journal article |
| Source: | AUTOMATICA; v. 111, JAN 2020. |
| Web of Science Citations: | 0 |
| Abstract | |
This paper presents new methods for set-valued state estimation of nonlinear discrete-time systems with unknown-but-bounded uncertainties. A single time step involves propagating an enclosure of the system states through the nonlinear dynamics (prediction), and then enclosing the intersection of this set with a bounded-error measurement (update). When these enclosures are represented by simple sets such as intervals, ellipsoids, parallelotopes, and zonotopes, certain set operations can be very conservative. Yet, using general convex polytopes is much more computationally demanding. To address this, we present in this paper two new methods, a mean value extension and a first-order Taylor extension, for efficiently propagating constrained zonotopes through nonlinear mappings. These extend existing methods for zonotopes in a consistent way. Examples show that these extensions yield tighter prediction enclosures than zonotopic estimation methods, while largely retaining the computational benefits of zonotopes. Moreover, they enable tighter update enclosures because constrained zonotopes can represent intersections much more accurately than zonotopes. (C) 2019 Elsevier Ltd. All rights reserved. (AU) | |
| FAPESP's process: | 14/50851-0 - INCT 2014: National Institute of Science and Technology for Cooperative Autonomous Systems Applied in Security and Environment |
| Grantee: | Marco Henrique Terra |
| Support Opportunities: | Research Projects - Thematic Grants |