An Ellipsoidal Set-Membership Approach to Distributed Joint State and Sensor Fault Estimation of Autonomous Ground Vehicles

doi:10.1109/JAS.2021.1004015

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	An Ellipsoidal Set-Membership Approach to Distributed Joint State and Sensor Fault Estimation of Autonomous Ground Vehicles
	Eman Mousavinejad; Xiaohua Ge; Qing-Long Han; Teng Joon Lim; Ljubo Vlacic
发表期刊	IEEE/CAA Journal of Automatica Sinica
ISSN	2329-9266
	2021
卷号	8 期号:6 页码:1107-1118
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.
关键词	Autonomous ground vehicle (AGV) distributed set-membership estimation fault estimation sensor networks vehicle lateral dynamics
DOI	10.1109/JAS.2021.1004015
引用统计	被引频次：29[WOS] [WOS记录] [WOS相关记录]
文献类型	期刊论文
条目标识符	http://ir.ia.ac.cn/handle/173211/44567
专题	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.

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