Gain switching observer for compensating outliers - Experimental validation with non-contact sensor

Yukinori Nakamura, Kenji Sugimoto, Kensuke Nagai, Shinji Wakui

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper proposes a method for robust state estimation for systems with irregular sensing failure. It is often experienced that non-contact sensors give abnormal signals (outliers) irregularly due to sensing failure. To compensate their effect, the proposed estimator switches observer gains to select normal signals based on the current estimation of the sensor signals. Stability of the error system is guaranteed in terms of switched Lyapunov functions. Both numerical and experimental results show the effectiveness of the proposed method.

Original languageEnglish
Title of host publicationProceedings of SICE Annual Conference 2010, SICE 2010 - Final Program and Papers
PublisherSociety of Instrument and Control Engineers (SICE)
Pages1749-1754
Number of pages6
ISBN (Print)9784907764364
Publication statusPublished - Jan 1 2010
Externally publishedYes

Publication series

NameProceedings of the SICE Annual Conference

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Keywords

  • Outlier
  • Switching observer

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering

Cite this

Nakamura, Y., Sugimoto, K., Nagai, K., & Wakui, S. (2010). Gain switching observer for compensating outliers - Experimental validation with non-contact sensor. In Proceedings of SICE Annual Conference 2010, SICE 2010 - Final Program and Papers (pp. 1749-1754). [5602423] (Proceedings of the SICE Annual Conference). Society of Instrument and Control Engineers (SICE).