HAL will be down for maintenance from Friday, June 10 at 4pm through Monday, June 13 at 9am. More information
Skip to Main content Skip to Navigation
Journal articles

Reliable non-linear state estimation involving time uncertainties

Simon Rohou 1 Luc Jaulin 1 Lyudmila Mihaylova 2 Fabrice Le Bars 1 Sandor Veres 2
Lab-STICC - Laboratoire des sciences et techniques de l'information, de la communication et de la connaissance
Abstract : This paper presents a new approach to bounded-error state estimation involving time uncertainties. For a given bounded observation of a continuous-time non-linear system, it is assumed that neither the values of the observed data nor their acquisition instants are known exactly. For systems described by state-space equations, we prove theoretically and demonstrate by simulations that the proposed constraint propagation approach enables the computation of bounding sets for the systems' state vectors that are consistent with the uncertain measurements. The bounding property of the method is guaranteed even if the system is strongly non-linear. Compared with other existing constraint propagation approaches, the originality of the method stems from our definition and use of bounding tubes which enable to enclose the set of all feasible trajectories inside sets. This method makes it possible to build specific operators for the propagation of time uncertainties through the whole trajectory. The efficiency of the approach is illustrated on two examples: the dynamic localization of a mobile robot and the correction of a drifting clock.
Complete list of metadata

Cited literature [27 references]  Display  Hide  Download

Contributor : Simon Rohou Connect in order to contact the contributor
Submitted on : Wednesday, April 25, 2018 - 2:43:02 PM
Last modification on : Monday, April 4, 2022 - 9:28:29 AM
Long-term archiving on: : Tuesday, September 25, 2018 - 10:04:39 PM


Files produced by the author(s)



Simon Rohou, Luc Jaulin, Lyudmila Mihaylova, Fabrice Le Bars, Sandor Veres. Reliable non-linear state estimation involving time uncertainties. Automatica, Elsevier, 2018, 93, pp.379-388. ⟨10.1016/j.automatica.2018.03.074⟩. ⟨hal-01778187⟩



Record views


Files downloads