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Title
Guaranteed State Estimation via Remainder-Form Decomposition Function-Based Set Inclusion for Nonlinear Discrete-Time Systems
Description
This thesis proposes novel set-theoretic approaches for polytopic state estimationin bounded- error discrete-time nonlinear systems with nonlinear observations
or constraints. Specically, our approaches rely on two equivalent representations
of polytopic sets known as zonotope bundles (ZB) and constrained zonotopes (CZ),
which allows us to transform the state space to the space of the generators of the
ZB/CZ that are generally interval-valued. This transformation enables us to leverage
a recent result on remainder-form mixed-monotone decomposition functions for
interval propagation to compute the propagated set estimate, i.e., a polytope that
is guaranteed to enclose the set of the state trajectories of a nonlinear dynamical
system. Furthermore, a similar procedure with state transformation and remainderform
decomposition functions can be applied to the nonlinear observation function
to compute the updated set estimate, i.e., an enclosing polytope of the set of states
from the propagated set estimate that are compatible/consistent with the observations/
constraints. In addition, we also show that a mean value extension result
for computing the propagated set estimate in the literature can also be extended
to compute the updated set estimation when the observation/constraint function is
nonlinear. Finally, the eectiveness of our proposed techniques is demonstrated using
two simulation examples and compared with existing methods in the literature.
Date Created
2021
Contributors
- Shoaib, Fatima (Author)
- Zheng Yong, Sze (Thesis advisor)
- Berman, Spring (Committee member)
- Xu, Zhe (Committee member)
- Arizona State University (Publisher)
Topical Subject
Resource Type
Extent
47 pages
Language
eng
Copyright Statement
In Copyright
Primary Member of
Peer-reviewed
No
Open Access
No
Handle
https://hdl.handle.net/2286/R.2.N.161695
Level of coding
minimal
Cataloging Standards
Note
Partial requirement for: M.S., Arizona State University, 2021
Field of study: Engineering
System Created
- 2021-11-16 03:15:33
System Modified
- 2021-11-30 12:51:28
- 2 years 11 months ago
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