Gain switching observer for compensating outliers - Experimental validation with non-contact sensor

Yukinori Nakamura; Kenji Sugimoto; Kensuke Nagai; Shinji Wakui

Gain switching observer for compensating outliers - Experimental validation with non-contact sensor

Yukinori Nakamura, Kenji Sugimoto, Kensuke Nagai, Shinji Wakui

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

This paper proposes a method for robust state estimation for systems with irregular sensing failure. It is often experienced that non-contact sensors give abnormal signals (outliers) irregularly due to sensing failure. To compensate their effect, the proposed estimator switches observer gains to select normal signals based on the current estimation of the sensor signals. Stability of the error system is guaranteed in terms of switched Lyapunov functions. Both numerical and experimental results show the effectiveness of the proposed method.

Original language	English
Title of host publication	Proceedings of SICE Annual Conference 2010, SICE 2010 - Final Program and Papers
Publisher	Society of Instrument and Control Engineers (SICE)
Pages	1749-1754
Number of pages	6
ISBN (Print)	9784907764364
Publication status	Published - Jan 1 2010
Externally published	Yes

Publication series

Name	Proceedings of the SICE Annual Conference

Keywords

Outlier
Switching observer

ASJC Scopus subject areas

Control and Systems Engineering
Computer Science Applications
Electrical and Electronic Engineering

Cite this

Nakamura, Y., Sugimoto, K., Nagai, K., & Wakui, S. (2010). Gain switching observer for compensating outliers - Experimental validation with non-contact sensor. In Proceedings of SICE Annual Conference 2010, SICE 2010 - Final Program and Papers (pp. 1749-1754). Article 5602423 (Proceedings of the SICE Annual Conference). Society of Instrument and Control Engineers (SICE).

Gain switching observer for compensating outliers - Experimental validation with non-contact sensor. / Nakamura, Yukinori; Sugimoto, Kenji; Nagai, Kensuke et al.
Proceedings of SICE Annual Conference 2010, SICE 2010 - Final Program and Papers. Society of Instrument and Control Engineers (SICE), 2010. p. 1749-1754 5602423 (Proceedings of the SICE Annual Conference).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

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AB - This paper proposes a method for robust state estimation for systems with irregular sensing failure. It is often experienced that non-contact sensors give abnormal signals (outliers) irregularly due to sensing failure. To compensate their effect, the proposed estimator switches observer gains to select normal signals based on the current estimation of the sensor signals. Stability of the error system is guaranteed in terms of switched Lyapunov functions. Both numerical and experimental results show the effectiveness of the proposed method.

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Gain switching observer for compensating outliers - Experimental validation with non-contact sensor

Abstract

Publication series

Keywords

ASJC Scopus subject areas

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