文章基本信息

标题：Optimization-Based Design of Bounded-Error Estimators Robust to Missing Data ⁎
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作者：Kwesi J. Rutledge ; Sze Zheng Yong ; Necmiye Ozay 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2018
卷号：51
期号：16
页码：157-162
DOI：10.1016/j.ifacol.2018.08.027
语种：English
出版社：Elsevier
摘要：AbstractNon-asymptotic bounded-error state estimators that provide hard bounds on the estimation error are crucial for safety-critical applications. This paper proposes a class of optimal bounded-error affine estimators to achieve a novel property we are callingEqualized Recoverythat can be computed by leveraging ideas from the dual problem of affine finite horizon optimal control design. In particular, by using Q-parametrization, the estimator design problem is reduced to a convex optimization problem. An extension of this estimator to handle missing data (e.g., due to package drops or sensor glitches) is also proposed. These ideas are illustrated with a numerical example motivated by vehicle safety systems.
关键词：KeywordsRobust estimatorsbounded-error estimationmissing data