Robust set-membership state estimation; application to underwater robotics
This paper proposes a new observer for estimating the state vector of a nonlinear system. This observer, which is robust with respect to outliers, assumes that the measurement errors, as well as the number of outliers that could occur within a given time window, are bounded. The principle of the app...
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| Veröffentlicht in: | Automatica (Oxford) 2009-01, Vol.45 (1), p.202-206 |
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| container_title | Automatica (Oxford) |
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| creator | Jaulin, Luc |
| description | This paper proposes a new observer for estimating the state vector of a nonlinear system. This observer, which is robust with respect to outliers, assumes that the measurement errors, as well as the number of outliers that could occur within a given time window, are bounded. The principle of the approach is to use interval analysis to deal properly with the nonlinearities involved in the system (without any linearization or approximation) and to propagate through the time, in a forward and backward manner, the assumptions made about outliers. A test case related to the localization and control of an underwater robot is also proposed to illustrate the efficiency of the approach. |
| doi_str_mv | 10.1016/j.automatica.2008.06.013 |
| format | Article |
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This observer, which is robust with respect to outliers, assumes that the measurement errors, as well as the number of outliers that could occur within a given time window, are bounded. The principle of the approach is to use interval analysis to deal properly with the nonlinearities involved in the system (without any linearization or approximation) and to propagate through the time, in a forward and backward manner, the assumptions made about outliers. A test case related to the localization and control of an underwater robot is also proposed to illustrate the efficiency of the approach.</description><subject>Applied sciences</subject><subject>Bounded-error</subject><subject>Computer science; control theory; systems</subject><subject>Constraint propagation</subject><subject>Control</subject><subject>Control theory. Systems</subject><subject>Exact sciences and technology</subject><subject>Interval analysis</subject><subject>Localization</subject><subject>Modelling and identification</subject><subject>Nonlinear estimation</subject><subject>Observer</subject><subject>Outliers</subject><subject>Robotics</subject><subject>Underwater robotics</subject><issn>0005-1098</issn><issn>1873-2836</issn><fulltext>true</fulltext><rsrctype>article</rsrctype><creationdate>2009</creationdate><recordtype>article</recordtype><recordid>eNqFUMtOwzAQtBBIlMI_5MKBQ8I6jhNHnAoCCqqEhOBsOX6ortI6st0i_h5HQeXIabW7Mzuzg1CGocCA69tNIfbRbUW0UhQlACugLgCTEzTDrCF5yUh9imYAQHMMLTtHFyFsUlthVs7Q67vr9iFmQcd8q7ed9mFthyxEEXWmQ7TjZbe7y8Qw9ElibLLosv1Oaf-VQD7zrnNJPVyiMyP6oK9-6xx9Pj1-PCzz1dvzy8NilUvCyphLUJ0C2piyoh1oIKIlyjBsOqMIxQ2rNdG4lnWlqGnAUNXVIm1L1TRKQUXm6Ga6uxY9H3xy6L-5E5YvFys-ztJvVUvL6oATlk1Y6V0IXpsjAQMf8-Mb_pcfH_PjUPOUX6JeT9RBBCl648VO2nDklxgoa_Fo537C6fTzwWrPg7R6J7WyXsvIlbP_i_0A6biMsg</recordid><startdate>20090101</startdate><enddate>20090101</enddate><creator>Jaulin, Luc</creator><general>Elsevier Ltd</general><general>Elsevier</general><scope>IQODW</scope><scope>AAYXX</scope><scope>CITATION</scope><scope>1XC</scope><orcidid>https://orcid.org/0000-0002-0938-0615</orcidid></search><sort><creationdate>20090101</creationdate><title>Robust set-membership state estimation; application to underwater robotics</title><author>Jaulin, Luc</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-c382t-c0dbd057f245b0e03a93df81fbfd351786e3e16c64d5f70f5db6a1fb2d77dd043</frbrgroupid><rsrctype>articles</rsrctype><prefilter>articles</prefilter><language>eng</language><creationdate>2009</creationdate><topic>Applied sciences</topic><topic>Bounded-error</topic><topic>Computer science; control theory; systems</topic><topic>Constraint propagation</topic><topic>Control</topic><topic>Control theory. 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| ispartof | Automatica (Oxford), 2009-01, Vol.45 (1), p.202-206 |
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| language | eng |
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| source | Access via ScienceDirect (Elsevier) |
| subjects | Applied sciences Bounded-error Computer science control theory systems Constraint propagation Control Control theory. Systems Exact sciences and technology Interval analysis Localization Modelling and identification Nonlinear estimation Observer Outliers Robotics Underwater robotics |
| title | Robust set-membership state estimation; application to underwater robotics |
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