Brief Guaranteed state estimation by zonotopes

Authors:
T. Alamo;J. M. Bravo;E. F. Camacho
Affiliations:
Departamento de Ingeniería de Sistemas y Automática, Universidad de Sevilla, Camino de los Descubrimientos s/n, 41092 Sevilla, Spain;Departamento de Ingeniería Electrónica, Sistemas Informáticos y Automática, Universidad de Huelva, Carretera Huelva - La Rábida, Palos de la Frontera, 21071 Huelva, Spain;Departamento de Ingeniería de Sistemas y Automática, Universidad de Sevilla, Camino de los Descubrimientos s/n, 41092 Sevilla, Spain
Venue:
Automatica (Journal of IFAC)
Year:
2005

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Abstract

This paper presents a new approach to guaranteed state estimation for non-linear discrete-time systems with a bounded description of noise and parameters. The main result is an algorithm to compute a set that contains the states consistent with the measured output and the given noise and parameters. This set is represented by a zonotope. The size of the zonotope is minimized each sample time by an analytic expression or by solving a convex optimization problem. Interval arithmetic is used to calculate a guaranteed trajectory of the process state. Two examples have been provided to clarify the algorithm.