Moving horizon estimation for discrete-time linear systems with binary sensors: Algorithms and stability results

Year: 2017

Authors: Battistelli G.; Chisci L.; Gherardini S.

Autors Affiliation: 1) Universita di Firenze, Dipartimento di Ingegneria dell?Informazione (DINFO), Via di Santa Marta 3, I-50139 Firenze, Italy. 2) Universita di Firenze, Dipartimento di Ingegneria dell?Informazione (DINFO), Via di Santa Marta 3, I-50139 Firenze, Italy. 3) Universita di Firenze, Dipartimento di Ingegneria dell?Informazione (DINFO), Via di Santa Marta 3, I-50139 Firenze, Italy; CSDC, Universita di Firenze, INFN and LENS, Via G. Sansone 1, I-50019 Sesto Fiorentino, Italy; QSTAR, Largo E. Fermi 2, I-50125 Firenze, Italy.

Abstract: The paper addresses state estimation for linear discrete-time systems with binary (threshold) measurements. A Moving Horizon Estimation (MHE) approach is followed and different estimators, characterized by two different choices of the cost function to be minimized and/or by the possible inclusion of constraints, are proposed. Specifically, the cost function is either quadratic, when only the information pertaining to the threshold-crossing instants is exploited, or piece-wise quadratic, when all the available binary measurements are taken into account. Stability results are provided for the proposed MHE algorithms in the presence of unknown but bounded disturbances and measurement noise. Performance of the proposed techniques is also assessed by means of simulation examples.

Journal/Review: AUTOMATICA

Volume: 85      Pages from: 374  to: 385

KeyWords: State estimation, moving-horizon estimation, binary measurements, stability analysis
DOI: 10.1016/j.automatica.2017.07.035

Citations: 18
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