论文标题
基于设置的状态估计对离散时间约束的非线性系统：基于约束的划界和DC编程的方法
Set-based state estimation for discrete-time constrained nonlinear systems: an approach based on constrained zonotopes and DC programming
论文作者
论文摘要
本文提出了一个新的状态估计器，用于具有未知但不确定性的离散时间非线性动力学系统，以及状态线性不平等和非线性平等约束。我们的算法基于受约束的分散型（CZS）和DC编程方法（DC代表凸功能的差异）。最近，平均值扩展和一阶泰勒延伸已从Zonotopes进行调整，以在非线性映射上传播CZ。尽管所得的算法（称为CZMV和CZFO）的精度比原始的Zonotopic版本更好，但它们具有对间隔算术继承的包装和依赖效应的敏感性。由于获得了解决优化问题，因此可以通过DC编程来减轻这些间隔问题。该技术的直接好处是消除依赖性效应。我们的设置会员过滤器（称为CZDC）为CZMV和CZFO提供了替代解决方案。为了证明所提出的方法的有效性，在两个数值示例上进行了CZDC的实验。
This paper proposes a new state estimator for discrete-time nonlinear dynamical systems with unknown-but-bounded uncertainties and state linear inequality and nonlinear equality constraints. Our algorithm is based on constrained zonotopes (CZs) and on a DC programming approach (DC stands for difference of convex functions). Recently, mean value extension and first-order Taylor extension have been adapted from zonotopes to propagate CZs over nonlinear mappings. Although the resulting algorithms (called CZMV and CZFO) reach better precision than the original zonotopic versions, they carry the sensitivity to the wrapping and dependency effects inherited from interval arithmetic. These interval issues can be mitigated with DC programming since the approximation error bounds are obtained solving optimization problems. A direct benefit of this technique is the elimination of the dependency effect. Our set-membership filter (called CZDC) offers an alternative solution to CZMV and CZFO. In order to demonstrate the effectiveness of the proposed approach, CZDC is experimented over two numerical examples.
