基于超平行空间集员滤波的非线性系统状态估计方法  

Hyperparallel space set-membership filtering based state estimation algorithm for nonlinear system

作　　者：王子赟 李旭 王艳 纪志成 WANG Zi-yun;LI Xu;WANG Yan;JI Zhi-cheng(Key Laboratory of Advanced Process Control for Light Industry of Ministry of Education,Jiangnan University,Wuxi 214122,China;Engineering Research Center of Internet of Things Technology Applications of Ministry of Education,Jiangnan University,Wuxi 214122,China)

机构地区：[1]江南大学轻工过程先进控制教育部重点实验室,江苏无锡214122 [2]江南大学物联网技术应用教育部工程研究中心,江苏无锡214122

出　　处：《控制与决策》2022年第9期2287-2295,共9页Control and Decision

基　　金：国家重点研发计划项目(2020YFB1710600);国家自然科学基金项目(61802150,61973138);中国博士后科学基金面上项目(2018M642161)。

摘　　要：针对噪声有界但未知条件下的非线性系统状态估计问题,提出基于超平行空间集员滤波算法.利用Stirling矩阵将模型进行一阶展开,基于凸差规划完成线性化误差定界,采用超平行空间表示误差边界和状态可行集,求解下一时刻预测状态可行集超平行体.在更新步将观测值分解为多个带,融入观测值的线性化误差并将带依次与超平行体相交,得到该时刻超平行空间描述下的状态可行集更新情况.所提出算法能够避免在求解线性化误差过程中外包误差集合带来的体积扩充,降低非线性集员滤波算法的保守性,仿真示例验证了所提出算法的可行性和有效性.For solving the problem of state estimation in nonlinear systems with bounded but unknown noise,a hyperparallel space set-membership filtering based state estimation algorithm is proposed.The Stirling matrix is used to expand the model into the one dimension,and the linearization error boundary is calculated based on convex difference programming.Then,the hyperparallel space is used to represent the error boundary and the feasible state set,before finding the predictive parallelotope incorporating true states in the next time.In the update step,the observation is decomposed into multiple stripe,and the updating feasible state set described by the hyperparallel space is obtained by integrating the linearization error of the observed values into stripe and intersecting them with the parallelotope in turn.The proposed algorithm avoids the volume increase caused by sets bounding remainder in the process of solving the linearization error,thus can reduce the conservatism of the nonlinear set-membership filtering algorithm.The simulation example verifies the feasibility and effectiveness of the proposed algorithm.

关 键 词：超平行空间 集员 滤波 非线性系统 状态估计 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]