Distributed set-membership estimation for automated straddle carriers using smart sensors

Abstract

Considering the harsh environment of the port, automated straddle carriers, characterized by their large size, tall frame, and high center of gravity, may experience instability during steering and transportation due to inaccurate state estimation. Thus, this paper explores state estimation techniques for automated straddle carriers utilizing smart sensors which are capable of data measurement and processing. First, using the steering principles and lateral characteristics of automated straddle carriers, a dynamic linear model is established based on Newton’s second law of motion. Then, in order to enhance the reliability and flexibility of state estimation, a distributed smart sensor network structure is introduced. In addition, considering the challenge of unknown-but-bounded noise and the precision demands of the considered automated straddle carrier, a modified distributed set-membership estimation algorithm is proposed and is derived sufficient conditions for the existence of the estimation set for the considered automated straddle carriers. Finally, the effectiveness and superiority of the proposed method are demonstrated by performance analyses.