TY - GEN
T1 - Robust state estimation for systems with irregular sensing failure
AU - Nagai, Kensuke
AU - Nakamura, Yukinori
AU - Sugimoto, Kenji
PY - 2009/9/21
Y1 - 2009/9/21
N2 - This paper proposes a method for robust state estimation for systems with irregular sensing failure. It is natural that non-contact sensors sometimes give abnormal signals (outliers) due to sensing failure. The proposed estimator switches observer gains to select normal signals based on residual values between estimation and observation. A common Lyapunov function ensures stability of the switching observer, as well as its noise property. A numerical simulation and experiment are performed to illustrate the effectiveness of the proposed method.
AB - This paper proposes a method for robust state estimation for systems with irregular sensing failure. It is natural that non-contact sensors sometimes give abnormal signals (outliers) due to sensing failure. The proposed estimator switches observer gains to select normal signals based on residual values between estimation and observation. A common Lyapunov function ensures stability of the switching observer, as well as its noise property. A numerical simulation and experiment are performed to illustrate the effectiveness of the proposed method.
UR - http://www.scopus.com/inward/record.url?scp=70349089724&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=70349089724&partnerID=8YFLogxK
U2 - 10.1109/ICNSC.2009.4919243
DO - 10.1109/ICNSC.2009.4919243
M3 - Conference contribution
AN - SCOPUS:70349089724
SN - 9781424434923
T3 - Proceedings of the 2009 IEEE International Conference on Networking, Sensing and Control, ICNSC 2009
SP - 43
EP - 48
BT - Proceedings of the 2009 IEEE International Conference on Networking, Sensing and Control, ICNSC 2009
T2 - 2009 IEEE International Conference on Networking, Sensing and Control, ICNSC 2009
Y2 - 26 March 2009 through 29 March 2009
ER -