A Zonotope-Based Interval Estimation Method for Systems With Nonlinear Equality Constraints

• 成果类型: Article
• 署名作者: Ma, Youdao; Wang, Zhenhua; Kinnaert, Michel; Shen, Yi
• 署名单位: Harbin Institute of Technology
• 刊物名称: IEEE TRANSACTIONS ON AUTOMATIC CONTROL
• ISSN/ISSBN: 0018-9286
• DOI: 10.1109/TAC.2024.3465562
• 发表日期: 2025
• 页码: 1358-1365
• 关键词: estimation; Symmetric matrices; vectors; uncertainty; Optimization methods; observers; accuracy; interval estimation; nonlinear equality constraints; optimization; Taylor expansion; zonotope

摘要

This article studies the problem of interval estimation for systems with nonlinear equality constraints and unknown but bounded uncertainties. An iterative zonotope-based method is presented to compute accurate interval bounds of system states. To manage the nonlinear constraints, we utilize a Taylor expansion and consider the dependence in the remainder. Furthermore, to determine the optimal zonotopic enclosures of the intersection of two zonotopes, the widths of the smallest intervals enclosing zonotopes are used as the size criterion. Numerically efficient linear programming is used for solving the associated optimization problems. A simulation on a ground vehicle example shows that the proposed method can provide accurate interval estimation results.