TY - GEN
T1 - Guaranteed State Estimation via Indirect Polytopic Set Computation for Nonlinear Discrete-Time Systems
AU - Khajenejad, Mohammad
AU - Shoaib, Fatima
AU - Zheng Yong, Sze
N1 - Funding Information:
M. Khajenejad, Fatima Shoaib and S.Z. Yong are with the School for Engineering of Matter, Transport and Energy, Arizona State University, Tempe, AZ, USA (e-mail: {mkhajene, fshoaib, szyong}@asu.edu). This work is partially supported by NSF grants CNS-1932066 and CNS-1943545.
Publisher Copyright:
© 2021 IEEE.
PY - 2021
Y1 - 2021
N2 - This paper proposes novel set-theoretic approaches for recursive state estimation in bounded-error discrete-time nonlinear systems subject to nonlinear observations/constraints. By transforming the polytopes that are characterized as zonotope bundles (ZB) and/or constrained zonotopes (CZ), from the state space to the space of the generators of ZB/CZ, we leverage a recent result on remainder-form mixed-monotone decomposition functions to compute the propagated set, i.e., a ZB/CZ that is guaranteed to enclose the set of the state trajectories of the considered system. Further, by applying the remainder-form decomposition functions to the nonlinear observation function, we derive the updated set, i.e., an enclosing ZB/CZ of the intersection of the propagated set and the set of states that are compatible/consistent with the observations/constraints. In addition, we show that the mean value extension result in [1] for computing propagated sets can also be extended to compute the updated set when the observation function is nonlinear.
AB - This paper proposes novel set-theoretic approaches for recursive state estimation in bounded-error discrete-time nonlinear systems subject to nonlinear observations/constraints. By transforming the polytopes that are characterized as zonotope bundles (ZB) and/or constrained zonotopes (CZ), from the state space to the space of the generators of ZB/CZ, we leverage a recent result on remainder-form mixed-monotone decomposition functions to compute the propagated set, i.e., a ZB/CZ that is guaranteed to enclose the set of the state trajectories of the considered system. Further, by applying the remainder-form decomposition functions to the nonlinear observation function, we derive the updated set, i.e., an enclosing ZB/CZ of the intersection of the propagated set and the set of states that are compatible/consistent with the observations/constraints. In addition, we show that the mean value extension result in [1] for computing propagated sets can also be extended to compute the updated set when the observation function is nonlinear.
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U2 - 10.1109/CDC45484.2021.9683626
DO - 10.1109/CDC45484.2021.9683626
M3 - Conference contribution
AN - SCOPUS:85122599862
T3 - Proceedings of the IEEE Conference on Decision and Control
SP - 6167
EP - 6174
BT - 60th IEEE Conference on Decision and Control, CDC 2021
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 60th IEEE Conference on Decision and Control, CDC 2021
Y2 - 13 December 2021 through 17 December 2021
ER -