Experimental Validation of an Ellipsoidal State Estimation Procedure for a Magnetic Levitation System

Andreas Rauh (1) , Jonas Soueidan (2) , Simon Rohou (3, 2) , Luc Jaulin (3, 2)

1 Department of Computing Science, Carl von Ossietzky Universität Oldenburg, D-26111 Oldenburg, Germany
2 ENSTA Bretagne - École Nationale Supérieure de Techniques Avancées Bretagne
3 Lab-STICC_ROBEX - Equipe ROBotics for EXploration

Set-based state estimation procedures have the advantage of enclosing all possible system states under the assumption of bounded measurement uncertainty, the structural correctness of dynamic systems models, and the representation of external disturbances and imperfectly known parameters by finitely large sets. In contrast to stochastic counterparts, often employing one of the available variants of Kalman filters, set-based approaches are less widely used. The reason for this observation is the fact that naive implementations often suffer from a non-negligible degree of overestimation and that (unless certain monotonicity properties are satisfied) set-based computations come with a notable increase of the computational complexity, resulting among others from required interval splitting procedures. This paper tries to resolve both issues by means of an ellipsoidal implementation of a discrete-time set-valued state estimation procedure that is validated experimentally and compared with an Unscented Kalman Filter (UKF) for a laboratory-scale magnetic levitation system.

Mots clés: Set-based state estimation; ellipsoidal state enclosures; bounded uncertainty; nonlinear system models; magnetic levitation systems

Domaines: Informatique [cs]

Andreas Rauh, Jonas Soueidan, Simon Rohou, Luc Jaulin. Experimental Validation of an Ellipsoidal State Estimation Procedure for a Magnetic Levitation System. 22nd IFAC World Congress, International Federation of Automatic Control, Jul 2023, Yokohama, Japan. pp.8494-8499, ⟨10.1016/j.ifacol.2023.10.1138⟩. ⟨hal-04338774⟩