Model validation and set membership state estimation for continuous-time nonlinear systems

Contraction metric approach

Hua Ouyang, Ian Manchester

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

Abstract

This paper studies the set membership state estimation(SMSE) and model validation for continuous-time nonlinear systems with uncertainties. These two problems are formulated as nonlinear optimal tracking problem with reversed time while such optimal problems cannot be solved analytically for nonlinear systems, as for linear systems. This paper proposes a novel approach based on contraction theory to obtain an upper bound of the cost functional of nonlinear tracking problem. Minimizing the upper bound leads to an approximate solution to the nonlinear tracking problem. This approach is applied to the SMSE and model validation problems and it leads to a sufficient condition for the existence of solutions to these two problems. Through minimizing the upper bound, approximate state estimation membership set is obtained. Also, the outline of how to use Sum-of-Square (SOS) programming to compute the solutions is discussed.

Original languageEnglish
Title of host publicationProceedings of 2014 Australian Control Conference, AUCC 2014
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages158-163
Number of pages6
ISBN (Electronic)9781922107398
DOIs
Publication statusPublished - Dec 16 2015
Event4th Australian Control Conference, AUCC 2014 - Canberra, Australia
Duration: Nov 17 2014Nov 18 2014

Other

Other4th Australian Control Conference, AUCC 2014
CountryAustralia
CityCanberra
Period11/17/1411/18/14

Fingerprint

State estimation
Nonlinear systems
Linear systems

ASJC Scopus subject areas

  • Control and Systems Engineering

Cite this

Ouyang, H., & Manchester, I. (2015). Model validation and set membership state estimation for continuous-time nonlinear systems: Contraction metric approach. In Proceedings of 2014 Australian Control Conference, AUCC 2014 (pp. 158-163). [7358705] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/AUCC.2014.7358705

Model validation and set membership state estimation for continuous-time nonlinear systems : Contraction metric approach. / Ouyang, Hua; Manchester, Ian.

Proceedings of 2014 Australian Control Conference, AUCC 2014. Institute of Electrical and Electronics Engineers Inc., 2015. p. 158-163 7358705.

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

Ouyang, H & Manchester, I 2015, Model validation and set membership state estimation for continuous-time nonlinear systems: Contraction metric approach. in Proceedings of 2014 Australian Control Conference, AUCC 2014., 7358705, Institute of Electrical and Electronics Engineers Inc., pp. 158-163, 4th Australian Control Conference, AUCC 2014, Canberra, Australia, 11/17/14. https://doi.org/10.1109/AUCC.2014.7358705
Ouyang H, Manchester I. Model validation and set membership state estimation for continuous-time nonlinear systems: Contraction metric approach. In Proceedings of 2014 Australian Control Conference, AUCC 2014. Institute of Electrical and Electronics Engineers Inc. 2015. p. 158-163. 7358705 https://doi.org/10.1109/AUCC.2014.7358705
Ouyang, Hua ; Manchester, Ian. / Model validation and set membership state estimation for continuous-time nonlinear systems : Contraction metric approach. Proceedings of 2014 Australian Control Conference, AUCC 2014. Institute of Electrical and Electronics Engineers Inc., 2015. pp. 158-163
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