Exact Set-valued Estimation using Constrained Convex Generators for uncertain Linear Systems

Detalhes bibliográficos
Autor(a) principal: Silvestre, Daniel
Data de Publicação: 2023
Idioma: eng
Título da fonte: Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
Texto Completo: http://hdl.handle.net/10362/164868
Resumo: Publisher Copyright: Copyright © 2023 The Authors. This is an open access article under the CC BY-NC-ND license (https://creativecommons.org/licenses/by-nc-nd/4.0/)
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spelling Exact Set-valued Estimation using Constrained Convex Generators for uncertain Linear SystemscontrolGuidance navigationObservers for linear systemsParameter-varying systemsControl and Systems EngineeringPublisher Copyright: Copyright © 2023 The Authors. This is an open access article under the CC BY-NC-ND license (https://creativecommons.org/licenses/by-nc-nd/4.0/)Set-valued state estimation when in the presence of uncertainties in the model have been addressed in the literature essentially following three main approaches: i) interval arithmetic of the uncertain dynamics with the estimates; ii) factorizing the uncertainty into matrices with unity rank; and, iii) performing the convex hull for the vertices of the uncertainty space. Approach i) and ii) introduce a lot of conservatism because both disregard the relationship of the parameters with the entries of the dynamics matrix. On the other hand, approach iii) has a large growth on the number of variables required to represent the set or is approximated losing its main advantage in comparison with i) and ii). In this paper, with the application of autonomous vehicles in GPS-denied areas that resort to beacon signals for localization, we develop an exact (meaning no added conservatism) and optimal (smallest growth in the number of variables) closed-form definition for the convex hull of Convex Constrained Generators (CCGs). This results in a more efficient method to represent the minimum volume convex set corresponding to the state estimation. Given that reductions methods are still lacking in the literature for CCGs, we employ an approximation using ray-shooting that is comparable in terms of accuracy with methods for Constrained Zonotopes as the ones implemented in CORA. Simulations illustrate the greater accuracy of CCGs with the proposed convex hull operation in comparison to Constrained Zonotopes.Elsevier B.V.DEE - Departamento de Engenharia Electrotécnica e de ComputadoresRUNSilvestre, Daniel2024-03-13T22:11:12Z2023-11-222023-11-22T00:00:00Zconference objectinfo:eu-repo/semantics/publishedVersion6application/pdfhttp://hdl.handle.net/10362/164868eng978-171387234-42405-8963PURE: 83883976https://doi.org/10.1016/j.ifacol.2023.10.241info:eu-repo/semantics/openAccessreponame:Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)instname:Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãoinstacron:RCAAP2024-05-22T18:19:28Zoai:run.unl.pt:10362/164868Portal AgregadorONGhttps://www.rcaap.pt/oai/openairemluisa.alvim@gmail.comopendoar:71602024-05-22T18:19:28Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) - Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãofalse
dc.title.none.fl_str_mv Exact Set-valued Estimation using Constrained Convex Generators for uncertain Linear Systems
title Exact Set-valued Estimation using Constrained Convex Generators for uncertain Linear Systems
spellingShingle Exact Set-valued Estimation using Constrained Convex Generators for uncertain Linear Systems
Silvestre, Daniel
control
Guidance navigation
Observers for linear systems
Parameter-varying systems
Control and Systems Engineering
title_short Exact Set-valued Estimation using Constrained Convex Generators for uncertain Linear Systems
title_full Exact Set-valued Estimation using Constrained Convex Generators for uncertain Linear Systems
title_fullStr Exact Set-valued Estimation using Constrained Convex Generators for uncertain Linear Systems
title_full_unstemmed Exact Set-valued Estimation using Constrained Convex Generators for uncertain Linear Systems
title_sort Exact Set-valued Estimation using Constrained Convex Generators for uncertain Linear Systems
author Silvestre, Daniel
author_facet Silvestre, Daniel
author_role author
dc.contributor.none.fl_str_mv DEE - Departamento de Engenharia Electrotécnica e de Computadores
RUN
dc.contributor.author.fl_str_mv Silvestre, Daniel
dc.subject.por.fl_str_mv control
Guidance navigation
Observers for linear systems
Parameter-varying systems
Control and Systems Engineering
topic control
Guidance navigation
Observers for linear systems
Parameter-varying systems
Control and Systems Engineering
description Publisher Copyright: Copyright © 2023 The Authors. This is an open access article under the CC BY-NC-ND license (https://creativecommons.org/licenses/by-nc-nd/4.0/)
publishDate 2023
dc.date.none.fl_str_mv 2023-11-22
2023-11-22T00:00:00Z
2024-03-13T22:11:12Z
dc.type.driver.fl_str_mv conference object
dc.type.status.fl_str_mv info:eu-repo/semantics/publishedVersion
status_str publishedVersion
dc.identifier.uri.fl_str_mv http://hdl.handle.net/10362/164868
url http://hdl.handle.net/10362/164868
dc.language.iso.fl_str_mv eng
language eng
dc.relation.none.fl_str_mv 978-171387234-4
2405-8963
PURE: 83883976
https://doi.org/10.1016/j.ifacol.2023.10.241
dc.rights.driver.fl_str_mv info:eu-repo/semantics/openAccess
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv 6
application/pdf
dc.publisher.none.fl_str_mv Elsevier B.V.
publisher.none.fl_str_mv Elsevier B.V.
dc.source.none.fl_str_mv reponame:Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
instname:Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação
instacron:RCAAP
instname_str Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação
instacron_str RCAAP
institution RCAAP
reponame_str Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
collection Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
repository.name.fl_str_mv Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) - Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação
repository.mail.fl_str_mv mluisa.alvim@gmail.com
_version_ 1817545995586633728

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