论文标题
椭圆形约束状态估计在存在界障碍的情况下
Ellipsoidal constrained state estimation in presence of bounded disturbances
论文作者
论文摘要
这项贡献提出了一种递归，计算上的递归，现成的在线方法，用于椭圆形的状态表征，用于线性离散时间模型，具有添加性未知干扰矢量（受已知的可能是变性的界限）损坏状态差异方程式和散发性测量矢量的状态测量值，这些状态差异和等式的范围都表达了偏差和等式。该算法分解为时间更新和观察更新步骤。在后者中，设计了合适的切换估计增益，以确保估计误差的输入到状态稳定性。
This contribution proposes a recursive, computationally efficient, ready-to-use, online method for the ellipsoidal state characterization for linear discrete-time models with additive unknown disturbances vectors (bounded by known possibly degenerate zonotopes) corrupting both the state difference equation and the sporadic measurement vectors, which are expressed as linear inequality and equality constraints on the state vector. The algorithm is decomposed into time updating and observation updating steps. In the latter, a suitable switching estimation gain is designed in such a way as to ensure the input-to-state stability of the estimation error.
