State Estimation via Switching Observer for Systems with Outliers
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- NAKAMURA Yukinori
- Institute of Engineering, Tokyo University of Agriculture and Technology
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- NAGAI Kensuke
- Mitsubishi Heavy Industries, Ltd.
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- SUGIMOTO Kenji
- Graduate School of Information Science, Nara Institute of Science and Technology
Bibliographic Information
- Other Title
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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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Abstract
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.
Journal
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- Transactions of the Society of Instrument and Control Engineers
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Transactions of the Society of Instrument and Control Engineers 47 (2), 81-89, 2011
The Society of Instrument and Control Engineers
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Details 詳細情報について
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- CRID
- 1390001204504996480
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- NII Article ID
- 10027787651
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- NII Book ID
- AN00072392
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- BIBCODE
- 2011TSICE..47...81N
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- ISSN
- 18838189
- 04534654
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- NDL BIB ID
- 11031763
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- Text Lang
- en
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- Data Source
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- JaLC
- NDL
- Crossref
- CiNii Articles
- KAKEN
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- Abstract License Flag
- Disallowed
