Robust stability of moving horizon estimation for nonlinear systems with bounded disturbances using adaptive arrival cost
Fuente:
arXiv
Enregistré dans:
| Auteurs principaux: | , , , , |
|---|---|
| Format: | Preprint |
| Publié: |
2019
|
| Sujets: | |
| Accès en ligne: | |
| Tags: |
Ajouter un tag
Pas de tags, Soyez le premier à ajouter un tag!
|
| _version_ | 1866917780321730560 |
|---|---|
| author | Deniz, Nestor N. Murillo, Marina H. Sanchez, Guido Genzelis, Lucas M. Giovanini, Leonardo |
| author_facet | Deniz, Nestor N. Murillo, Marina H. Sanchez, Guido Genzelis, Lucas M. Giovanini, Leonardo |
| contents | In this paper, the robust stability and convergence to the true state of moving horizon estimator based on an adaptive arrival cost are established for nonlinear detectable systems. Robust global asymptotic stability is shown for the case of non-vanishing bounded disturbances whereas the convergence to the true state is proved for the case of vanishing disturbances. Several simulations were made in order to show the estimator behaviour under different operational conditions and to compare it with the state of the art estimation methods. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_1906_01060 |
| institution | arXiv |
| publishDate | 2019 |
| record_format | arxiv |
| spellingShingle | Robust stability of moving horizon estimation for nonlinear systems with bounded disturbances using adaptive arrival cost Deniz, Nestor N. Murillo, Marina H. Sanchez, Guido Genzelis, Lucas M. Giovanini, Leonardo Systems and Control Performance Robotics In this paper, the robust stability and convergence to the true state of moving horizon estimator based on an adaptive arrival cost are established for nonlinear detectable systems. Robust global asymptotic stability is shown for the case of non-vanishing bounded disturbances whereas the convergence to the true state is proved for the case of vanishing disturbances. Several simulations were made in order to show the estimator behaviour under different operational conditions and to compare it with the state of the art estimation methods. |
| title | Robust stability of moving horizon estimation for nonlinear systems with bounded disturbances using adaptive arrival cost |
| topic | Systems and Control Performance Robotics |
| url | https://arxiv.org/abs/1906.01060 |