Reset Moving Horizon Estimation for Quantized Discrete Time Systems

• 成果类型: Article
• 署名作者: Xu, Yong; Zhou, Jiayu; Rao, Hongxia; Lu, Renquan; Xie, Lihua
• 署名单位: Guangdong University of Technology; East China University of Science & Technology; Nanyang Technological University
• 刊物名称: IEEE TRANSACTIONS ON AUTOMATIC CONTROL
• ISSN/ISSBN: 0018-9286
• DOI: 10.1109/TAC.2020.3037140
• 发表日期: 2021
• 页码: 4199-4205
• 关键词: Noise measurement; Q measurement; Quantization (signal); Measurement uncertainty; discrete-time systems; Time measurement; Kalman filters; Estimator state reset; estimation; moving horizon; quantized measurement

摘要

This article addresses reset moving horizon estimation for multiple output discrete-time systems with quantized measurements. A new state reset estimator is designed based on a one-dimensional noisy measurement to overcome underestimation or overestimation of the system state, and an iterative algorithm is proposed to deal with multiple output systems. It is shown that with the proposed reset algorithm, the state estimation error is improved in the presence of over or under estimation, and the boundedness of the estimation error is established. The proposed algorithm also achieves a better estimate than the existing one for systems with a scalar measurement in the static case. A simulation of a moving vehicle is provided to demonstrate the advantage of the developed approach.