Robust Moving-Horizon Estimation for Quasi-LPV Discrete-Time Systems

This paper deals with moving horizon estimation for a class of quasi-LPV systems. Under both observability condition and incremental exponential input output-to-state stability (i-EIOSS) assumption, novel stability conditions of the moving horizon estimator (MHE) are proposed. Such conditions guaran...

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Bibliographic Details
Published inIFAC-PapersOnLine Vol. 56; no. 2; pp. 6771 - 6776
Main Authors Arezki, H., Alessandri, A., Zemouche, A.
Format Journal Article
LanguageEnglish
Published Elsevier Ltd 01.01.2023
Subjects
incremental input output-to-state stability
moving horizon estimator
Quasi-LPV systems
stability
moving horizon estimator
stability
incremental input output-to-state stability
Quasi-LPV systems
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Summary:This paper deals with moving horizon estimation for a class of quasi-LPV systems. Under both observability condition and incremental exponential input output-to-state stability (i-EIOSS) assumption, novel stability conditions of the moving horizon estimator (MHE) are proposed. Such conditions guarantee exponential robust stability of the MHE based on a particular prediction step that is independent of the dynamic of the system. An application to vehicle motion estimation, using the kinematic model, is provided to show the validity and effectiveness of the proposed method, and to support the theoretical results.
ISSN:2405-8963
2405-8963
DOI:10.1016/j.ifacol.2023.10.384