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Exact bounded-error continuous-time linear state estimator

Simon Rohou 1, 2 Luc Jaulin 1, 2
1 Lab-STICC_ROBEX - Equipe ROBotics for EXploration
Lab-STICC - Laboratoire des sciences et techniques de l'information, de la communication et de la connaissance : UMR6285
Abstract : This paper proposes an interval-based method for estimating the state of a linear continuous-time dynamical system. In this work, we assume that the measurements are provided at discrete times and that all errors are bounded. Interval analysis is used to propagate the interval uncertainties continuously over time. The resulting method is guaranteed to never lose any feasible solution and provides an optimal polygonal enclosure of the state trajectory. A reproducible example illustrates the principle of the method.
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Submitted on : Monday, May 31, 2021 - 10:35:43 AM
Last modification on : Monday, April 4, 2022 - 9:28:31 AM

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Simon Rohou, Luc Jaulin. Exact bounded-error continuous-time linear state estimator. Systems and Control Letters, Elsevier, 2021, 153, pp.104951. ⟨10.1016/j.sysconle.2021.104951⟩. ⟨hal-03242585⟩

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