Redesign of discrete-time nonlinear observers with state estimate constrained in prescribed convex set

Daniele Astolfi; Pauline Bernard; Romain Postoyan; Lorenzo Marconi

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Redesign of discrete-time nonlinear observers with state estimate constrained in prescribed convex set

机译：在规定的凸集中约束状态估计的离散时间非线性观测器的重新设计

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We propose a technique to modify a given discrete-time (nonlinear) observer so that the state estimate remains in a given convex set, without altering the observer performances in terms of convergence and robustness to external disturbances. The proposed approach can be used to remove the peaking phenomenon or to attenuate the effect of impulsive outliers in the measures. It assumes that it is possible to execute a certain number of computations between any two sampling times in order to refine the current estimate and bring it back into the prescribed set. The proposed technique can be applied to any class of nonlinear observers for which a quadratic Lyapunov function is used to prove stability.

机译：我们提出了一种修改给定离散时间（非线性）观测器的技术，以使状态估计保持在给定的凸集中，而不会在收敛性和对外部干扰的鲁棒性方面改变观测器性能。所提出的方法可用于消除峰值现象或减弱测量中脉冲离群值的影响。假设可以在任意两个采样时间之间执行一定数量的计算，以完善当前估计并将其重新放入规定的集合中。所提出的技术可以应用于使用二次Lyapunov函数证明稳定性的任何类型的非线性观测器。

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《IFAC PapersOnLine》 |2019年第16期|共6页
作者
Daniele Astolfi; Pauline Bernard; Romain Postoyan; Lorenzo Marconi;
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中图分类自动化技术、计算机技术;
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1. Redesign of discrete-time nonlinear observers with state estimate constrained in prescribed convex set [J] . Daniele Astolfi, Pauline Bernard, Romain Postoyan, IFAC PapersOnLine . 2019,第16期

机译：在规定的凸集中约束状态估计的离散时间非线性观测器的重新设计
2. Observer-based controller for constrained uncertain stochastic nonlinear discrete-time systems [J] . Hassan Mohamed F., Alrifai Muthana T., Soliman Hisham M., International Journal of Robust and Nonlinear Control . 2016,第10期

机译：约束不确定随机非线性离散时间系统的基于观测器的控制器
3. Estimated plant's sensitivity based on data-driving observer for a class of nonlinear discrete-time control systems [J] . Chidentree Treesatayapun International journal of machine learning and cybernetics . 2018,第6期

机译：基于数据驱动观测器的一类非线性离散时间控制系统的工厂灵敏度估计
4. Redesign of discrete-time nonlinear observers with state estimate constrained in prescribed convex set [C] . Daniele Astolfi, Pauline Bernard, Romain Postoyan, IFAC Symposium on Nonlinear Control Systems . 2020

机译：在规定凸集中有国家估计的离散时间非线性观察者重新设计
5. Observers for discrete-time nonlinear systems. [D] . Grossman, Walter D. 1999

机译：离散时间非线性系统的观测器。
6. Non-convexly constrained image reconstruction from nonlinear tomographic X-ray measurements [O] . Thomas Blumensath, Richard Boardman -1

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7. Guaranteed methods based on constrained zonotopes for set-valued state estimation of nonlinear discrete-time systems [O] . Brenner S. Rego, Guilherme V. Raffo, Joseph K. Scott, 2020

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8. Some Results on Constrained Controllability in Discrete-Time Convex Processes [R] . Phat, V. N., Dieu, T. C. 1991

机译：离散时间凸过程约束可控性的若干结果

Redesign of discrete-time nonlinear observers with state estimate constrained in prescribed convex set

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