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
Pages1749-1754
Number of pages6
Publication statusPublished - 2010
Externally publishedYes
EventSICE Annual Conference 2010, SICE 2010 - Taipei, Taiwan, Province of China
Duration: Aug 18 2010Aug 21 2010

Other

OtherSICE Annual Conference 2010, SICE 2010
CountryTaiwan, Province of China
CityTaipei
Period8/18/108/21/10

Fingerprint

Sensors
State estimation
Lyapunov functions
Switches

Keywords

  • Outlier
  • Switching observer

ASJC Scopus subject areas

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

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]

Gain switching observer for compensating outliers - Experimental validation with non-contact sensor. / Nakamura, Yukinori; Sugimoto, Kenji; Nagai, Kensuke; Wakui, Shinji.

Proceedings of SICE Annual Conference 2010, SICE 2010 - Final Program and Papers. 2010. p. 1749-1754 5602423.

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

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., 5602423, pp. 1749-1754, SICE Annual Conference 2010, SICE 2010, Taipei, Taiwan, Province of China, 8/18/10.
Nakamura Y, Sugimoto K, Nagai K, Wakui S. 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. 2010. p. 1749-1754. 5602423
Nakamura, Yukinori ; Sugimoto, Kenji ; Nagai, Kensuke ; Wakui, Shinji. / Gain switching observer for compensating outliers - Experimental validation with non-contact sensor. Proceedings of SICE Annual Conference 2010, SICE 2010 - Final Program and Papers. 2010. pp. 1749-1754
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