An Ellipsoidal Set-Membership Approach to Distributed Joint State and Sensor Fault Estimation of Autonomous Ground Vehicles
文献类型：期刊论文
| 作者 | Eman Mousavinejad; Xiaohua Ge; Qing-Long Han; Teng Joon Lim; Ljubo Vlacic |
| 刊名 | IEEE/CAA Journal of Automatica Sinica
 |
| 出版日期 | 2021 |
| 卷号 | 8期号:6页码:1107-1118 |
| 关键词 | Autonomous ground vehicle (AGV) distributed set-membership estimation fault estimation sensor networks vehicle lateral dynamics |
| ISSN号 | 2329-9266 |
| DOI | 10.1109/JAS.2021.1004015 |
| 英文摘要 | This paper is concerned with the problem of distributed joint state and sensor fault estimation for autonomous ground vehicles subject to unknown-but-bounded (UBB) external disturbance and measurement noise. In order to improve the estimation reliability and performance in cases of poor data collection and potential communication interruption, a multi-sensor network configuration is presented to cooperatively measure the vehicular yaw rate, and further compute local state and fault estimates. Toward this aim, an augmented descriptor vehicle model is first established, where the unknown sensor fault is modeled as an auxiliary state of the system model. Then, a new distributed ellipsoidal set-membership estimation approach is developed so as to construct an optimized bounding ellipsoidal set which guarantees to contain the vehicle’s true state and the sensor fault at each time step despite the existence of UBB disturbance and measurement noises. Furthermore, a convex optimization algorithm is put forward such that the gain matrix of each distributed estimator can be recursively obtained. Finally, simulation results are provided to validate the effectiveness of the proposed approach. |
| 源URL | [http://ir.ia.ac.cn/handle/173211/44567]  |
| 专题 | 自动化研究所_学术期刊_IEEE/CAA Journal of Automatica Sinica |
| 推荐引用方式 GB/T 7714 | Eman Mousavinejad,Xiaohua Ge,Qing-Long Han,et al. An Ellipsoidal Set-Membership Approach to Distributed Joint State and Sensor Fault Estimation of Autonomous Ground Vehicles[J]. IEEE/CAA Journal of Automatica Sinica,2021,8(6):1107-1118. |
| APA | Eman Mousavinejad,Xiaohua Ge,Qing-Long Han,Teng Joon Lim,&Ljubo Vlacic.(2021).An Ellipsoidal Set-Membership Approach to Distributed Joint State and Sensor Fault Estimation of Autonomous Ground Vehicles.IEEE/CAA Journal of Automatica Sinica,8(6),1107-1118. |
| MLA | Eman Mousavinejad,et al."An Ellipsoidal Set-Membership Approach to Distributed Joint State and Sensor Fault Estimation of Autonomous Ground Vehicles".IEEE/CAA Journal of Automatica Sinica 8.6(2021):1107-1118. |
入库方式： OAI收割
来源：自动化研究所
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