Partial Extended Observability Certification and Optimal Design of Moving-Horizon Estimators

• 成果类型: Article
• 署名作者: Alamir, Mazen
• 署名单位: Communaute Universite Grenoble Alpes; Institut National Polytechnique de Grenoble; Universite Grenoble Alpes (UGA); Centre National de la Recherche Scientifique (CNRS)
• 刊物名称: IEEE TRANSACTIONS ON AUTOMATIC CONTROL
• ISSN/ISSBN: 0018-9286
• DOI: 10.1109/TAC.2021.3108490
• 发表日期: 2022
• 页码: 3663-3669
• 关键词: Certification via randomized optimization; moving-horizon estimation; Nonlinear systems; observation target; Partial observability

摘要

This article addresses the observability analysis and the optimal design of observation parameters in the presence of noisy measurements and parametric uncertainties. The notion of almost epsilon-observability is introduced and a systematic procedure to assess its satisfaction for a given system with a priori known measurement noise statistics and parameter discrepancy is sketched. Moreover, the concept of observation-target quantities is introduced to analyze the precision with which specific chosen expressions of the state and the parameters can be reconstructed. The overall framework is exposed and validated through an illustrative example.