Skip to Main content Skip to Navigation
Journal articles

Constrained state estimation for nonlinear systems: a redesign approach based on convexity

Abstract : Given a plant whose trajectories of interest remain in a known compact set and an associated observer, we propose a general framework to modify this observer so that its state remains in a given convex set for all times, without altering the observer guaranteed performances in terms of convergence and robustness to external disturbances. The methodology can be applied to any time-varying continuous-time, discrete-time and hybrid system/observer, for which a quadratic Lyapunov function is used for the analysis. The proposed approach is relevant, for instance, to remove the peaking phenomenon, to attenuate the effect of impulsive outliers in the measurement, to avoid aberrant estimates during transients, or to guarantee a given range for variables in embedded systems.
Document type :
Journal articles
Complete list of metadata

https://hal.archives-ouvertes.fr/hal-03157454
Contributor : Daniele Astolfi <>
Submitted on : Wednesday, March 3, 2021 - 10:51:12 AM
Last modification on : Friday, April 16, 2021 - 3:01:34 AM

File

final.pdf
Files produced by the author(s)

Identifiers

Citation

Daniele Astolfi, Pauline Bernard, Romain Postoyan, Lorenzo Marconi. Constrained state estimation for nonlinear systems: a redesign approach based on convexity. IEEE Transactions on Automatic Control, Institute of Electrical and Electronics Engineers, In press, ⟨10.1109/TAC.2021.3064537⟩. ⟨hal-03157454⟩

Share

Metrics

Record views

99

Files downloads

313