An Ellipsoidal Set-Membership Approach to Distributed Joint State and Sensor Fault Estimation of Autonomous Ground Vehicles

Eman Mousavinejad; Xiaohua Ge; Qing-Long Han; Teng Joon Lim; Ljubo Vlacic

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An Ellipsoidal Set-Membership Approach to Distributed Joint State and Sensor Fault Estimation of Autonomous Ground Vehicles

机译：自主地面车辆分布式联合状态和传感器故障估计的椭圆形集合方法

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This paper is concerned with the problem of distributed joint state and sensor fault estimation for autonomous ground vehicles subject to unknown-but-bounded(UBB)external disturbance and measurement noise.In order to improve the estimation reliability and performance in cases of poor data collection and potential communication interruption,a multisensor network configuration is presented to cooperatively measure the vehicular yaw rate,and further compute local state and fault estimates.Toward this aim,an augmented descriptor vehicle model is first established,where the unknown sensor fault is modeled as an auxiliary state of the system model.Then,a new distributed ellipsoidal set-membership estimation approach is developed so as to construct an optimized bounding ellipsoidal set which guarantees to contain the vehicle’s true state and the sensor fault at each time step despite the existence of UBB disturbance and measurement noises.Furthermore,a convex optimization algorithm is put forward such that the gain matrix of each distributed estimator can be recursively obtained.Finally,simulation results are provided to validate the effectiveness of the proposed approach.

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《自动化学报（英文版）》 |2021年第6期|1107-1118|共12页
作者
Eman Mousavinejad; Xiaohua Ge; Qing-Long Han; Teng Joon Lim; Ljubo Vlacic;
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作者单位

School of Electrical and Information Engineering The University of Sydney Sydney NSW 2006 Australia;

School of Engineering and Built Environment Griffith University Gold Coast QLD 4222 Australia;

School of Software and Electrical Engineering Swinburne University of Technology Melbourne VIC 3122 Australia;

School of Software and Electrical Engineering Swinburne University of Technology Melbourne VIC 3122 Australia;

School of Electrical and Information Engineering The University of Sydney Sydney NSW 2006 Australia;

School of Engineering and Built Environment Griffith University Gold Coast QLD 4222 Australia1;

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An Ellipsoidal Set-Membership Approach to Distributed Joint State and Sensor Fault Estimation of Autonomous Ground Vehicles

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