State Estimation via Switching Observer for Systems with Outliers

DOI Web Site BIBCODE 31 References Open Access

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  • 外れ値を伴う環境下での切替え型オブザーバによる状態推定
  • ハズレ チ オ トモナウ カンキョウ カ デ ノ キリカエ ガタ オブザーバ ニ ヨル ジョウタイ スイテイ

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This paper proposes a method for robust state estimation for systems with irregular sensing failure. It is often experienced that non-contact sensors give abnormal signals (outliers) due to sensing failure. To compensate their effect, the proposed estimator switches observer gains to select normal signals based on the current estimation of the sensor signals. Stability of the error system is guaranteed in terms of switched Lyapunov functions. Both numerical and experimental results show the effectiveness of the proposed method.

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