Prefix-based bounded-error estimation with intermittent observations

Kwesi J. Rutledge, Sze Zheng Yong, Necmiye Ozay

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Scopus citations

Abstract

While observers with asymptotic convergence guarantees can be used to design output feedback controllers when considering control tasks like stability, if state constraints relevant to safety exist, it is crucial to bound the estimation error at all times. In this paper, we propose an optimization-based design technique for bounded-error state estimators for affine systems that provide estimation guarantees in the presence of intermittent measurements. We treat the affine system as a switched system where the measurement equation switches between two modes based on whether a measurement exists or is missing, and model potential intermittent measurement patterns with a finite language that constrains the feasible mode sequences. By utilizing Q-parametrization, we show that an optimal estimator can be constructed that simultaneously provides an estimate of the continuous-state and implicitly estimates the specific missing data pattern (i.e., mode sequence), within the given language, according to the prefix observed so far. We illustrate with numerical examples that this approach significantly improves the achievable estimation bounds compared to earlier work.

Original languageEnglish (US)
Title of host publication2019 American Control Conference, ACC 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages4320-4325
Number of pages6
ISBN (Electronic)9781538679265
DOIs
StatePublished - Jul 2019
Event2019 American Control Conference, ACC 2019 - Philadelphia, United States
Duration: Jul 10 2019Jul 12 2019

Publication series

NameProceedings of the American Control Conference
Volume2019-July
ISSN (Print)0743-1619

Conference

Conference2019 American Control Conference, ACC 2019
CountryUnited States
CityPhiladelphia
Period7/10/197/12/19

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

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