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2021-10-17T04:10:03+00:00
Discrete State Estimators for a Class of Nondeterministic Hybrid Systems on a Lattice
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The problem of estimating the discrete variables
in nondeterministic hybrid systems where the continuous
variables are available for measurement is considered. Using
partial order and lattice theory, we construct a discrete state
estimator, the LU estimator, which updates two variables at
each step. Namely, it updates the lower (L) and upper (U)
bounds of the set of all possible discrete variables values
compatible with the output sequence and with the systems'
dynamics. If the system is weakly observable, we show that
there always exist a lattice on which to construct the LU
estimator. For computational issues, some partial orders are to
be preferred to others.We thus show that nondeterminism may
be added to a system so as to obtain a new system that satisfies
the requirements for the construction of the LU estimator on
a chosen lattice. These ideas are applied to a nondeterministic
multi-robot system.
Domitilla Del Vecchio and Richard M. Murray
2004d
Submitted, 2004 Conference on Decision and Control (CDC)
dm04b-cdc
Conference Paper
2016-05-15T06:18:24Z
2457523.7627778
Discrete State Estimators for a Class of Nondeterministic Hybrid Systems on a Lattice
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