Guaranteed state estimation for nonlinear continuous-time systems based on qLPV approximations

Videau, Gaétan; Raïssi, Tarek; Zolghadri, Ali

doi:10.23919/ecc.2009.7074519

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“…This paper deals with offline nonlinear state estimation in a bounded-error context (see e.g., [1], [5], [11], [17], [8], [22]), but here, we shall consider fleeting data, i.e., fugitive data that can appear at some given dates. More formally, a state estimation problem with fleeting data can be represented by a classical state equation with some visibility conditions: ẋ (t) = f (x (t) , t) + b(t) h (x (t)) = 0 ⇒ g (x (t)) ∈ W (t)…”

Section: Introductionmentioning

confidence: 99%

Set-membership state estimation with fleeting data

et al. 2012

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Abstract-This paper deals with offline nonlinear state estimation where measurements are available only when some given equality conditions are satisfied. For this type of problems, which are often met in robot localization when sonar or radar are involved, the data are qualified as fleeting because the measurements are available only at some given unknown dates. In this paper, the first approach able to deal with nonlinear estimation with fleeting data is presented. An illustration related to offline robot localization with a laser rangefinder will be given.

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