Abstract
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.
| Original language | English |
|---|---|
| Title of host publication | Proceedings of the 2009 IEEE International Conference on Networking, Sensing and Control, ICNSC 2009 |
| Pages | 43-48 |
| Number of pages | 6 |
| DOIs | |
| Publication status | Published - 2009 |
| Externally published | Yes |
| Event | 2009 IEEE International Conference on Networking, Sensing and Control, ICNSC 2009 - Okayama, Japan Duration: Mar 26 2009 → Mar 29 2009 |
Other
| Other | 2009 IEEE International Conference on Networking, Sensing and Control, ICNSC 2009 |
|---|---|
| Country | Japan |
| City | Okayama |
| Period | 3/26/09 → 3/29/09 |
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ASJC Scopus subject areas
- Computer Networks and Communications
- Electrical and Electronic Engineering
Cite this
Robust state estimation for systems with irregular sensing failure. / Nagai, Kensuke; Nakamura, Yukinori; Sugimoto, Kenji.
Proceedings of the 2009 IEEE International Conference on Networking, Sensing and Control, ICNSC 2009. 2009. p. 43-48 4919243.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - Robust state estimation for systems with irregular sensing failure
AU - Nagai, Kensuke
AU - Nakamura, Yukinori
AU - Sugimoto, Kenji
PY - 2009
Y1 - 2009
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
SP - 43
EP - 48
BT - Proceedings of the 2009 IEEE International Conference on Networking, Sensing and Control, ICNSC 2009
ER -