改进的全对称多胞形集员状态估计算法-控制理论与应用.PDFVIP

25 2 Vol. 25 No. 2 2008 4 Control Theory Applications Apr. 2008 :2008 , ( , 100083) : , ., . , , . , ., ., . . , . , . : ; ; ;; : TP13 : A An improved estimation algorithm for set membership states by zonotopes CHAI Wei, SUN Xian-fang (School of Automation Science and Electrical Engineering, Beihang University, Beijing 100083, China) Abstract: An improved estimation algorithm for set membership states by zonotopes is proposed for nonlinear discrete- time systems with a bounded description of noise and parameters. This algorithm requires computation of a zonotope bounding the uncertain trajectory of the system using interval arithmetic in time updating. The observation update first determines a set bounding the region of the state space which is consistent with the measured output, and then computes a minimal-volume zonotope bounding the intersection of the time-updated zonotope and this set. Since this set is obtained as the intersection of strips, it is necessary to compute an outer bound of the intersection of the zonotope and the strips. The conservatism of the original outer bound computation of the intersection is pointed out before improving. The improved outer bound computation gives a new family of zonotopes containing the intersection and selects the minimal-volume one as the outer bound. It can be proved that the improved computation gives smaller zonotopes than the original one. Simulation experiments are performed to examine the influence of noise distributions on the performance of t