Set-based state estimation: a polytopic approach

Authors

C.E. Valero, M.E. Villanueva, B. Houska, R. Paulen

Reference

IFAC-PapersOnLine Volume 53, Issue 2, 2020, Pages 11277-11282

Abstract

This paper is concerned with guaranteed parameter estimation for discrete-time nonlinear systems subject to bounded uncertainties. The proposed approach is based on polytopic set parameterizations. Similar to other estimation and filtering approaches, the presented algorithm is based on two operations, propagation of the polytopic uncertainty through the dynamics and an update operation using the measurement. Both the propagation and the update steps are based on set-operations that use a parameterized lifted outer approximations of the polytopes. The performance of the approach is illustrated by applying it to the double integrator system, where the presented polytopic parameterization approach leads to accurate and rigorous parameter estimates.

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Bibtex

@INPROCEEDINGS{Valero2020,
author = {Valero, C.E. and Villanueva, M.E. and Houska, B. and Paulen, R.},
title = {Set-based state estimation: a polytopic approach},
booktitle = {In Proceedings of the 21st IFAC World Congress, Berlin, Germany},
year = {2020},
pages = {11277–11282},
volume = {53},
number = {2}
}