Approximate set-valued observers for nonlinear systems
The paper deals with studying the nonlinear discrete-time system \[ x(k+1) = f(x(k), d(k), k), \quad x(0) \in M_0 , \qquad y(k+1) = h(x(k), n(k), k) \] with \(y(k)\) being the measured output and \(d(k), n(k)\) being the unknown-but-bounded noises. The authors consider the state estimate \(\widehat x (k)\) given by the observer system \[ z(k+1) = F(z(k), y(k), k), \qquad \widehat x (k) = H(z(k), y(k), k) \] where \(z(k)\) may be set-valued (``set-valued observer). The state estimate is constructed upon knowing the set of all possible states of the system that are consistent with the current measurement. The problem is to study when the estimator \(\widehat x(k)\) is unbiased and asymptotically convergent (in case \(d=n=0\)) or is nondivergent in case of uncertainty (\(d\not=0\), \(n\not=0)\). The authors linearize the nonlinear system and then use a variant of the Kalman filter procedure to construct the central point \(\widehat x(k)\) of the set-valued estimator. Some results of computer simulations are given.
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