Robust state estimation for systems with irregular sensing failure

Kensuke Nagai, Yukinori Nakamura, Kenji Sugimoto

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

1 Citation (Scopus)

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 languageEnglish
Title of host publicationProceedings of the 2009 IEEE International Conference on Networking, Sensing and Control, ICNSC 2009
Pages43-48
Number of pages6
DOIs
Publication statusPublished - Sep 21 2009
Externally publishedYes
Event2009 IEEE International Conference on Networking, Sensing and Control, ICNSC 2009 - Okayama, Japan
Duration: Mar 26 2009Mar 29 2009

Publication series

NameProceedings of the 2009 IEEE International Conference on Networking, Sensing and Control, ICNSC 2009

Other

Other2009 IEEE International Conference on Networking, Sensing and Control, ICNSC 2009
CountryJapan
CityOkayama
Period3/26/093/29/09

ASJC Scopus subject areas

  • Computer Networks and Communications
  • Electrical and Electronic Engineering

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