Estimation in uncertain switched systems using a bank of interval observers: local vs glocal approach

Damiano Rotondo (1) , Denis Efimov (2) , Andrea Cristofaro (3) , Tor Arne Johansen (4)

1 UPC - Universitat Politècnica de Catalunya = Université polytechnique de Catalogne [Barcelona]
2 VALSE - Finite-time control and estimation for distributed systems
3 UNICAM - Università degli Studi di Camerino = University of Camerino
4 ITK NTNU - Department of Engineering Cybernetics [Trondheim]

This paper discusses some issues related with the design of a bank of interval observers for uncertain switched systems, in which several sources of uncertainty are considered: parametric uncertainties , unknown disturbances, measurement noise, and unknown switching signal. More specifically, this paper focuses on analyzing the interval estimation accuracy when changes of active mode induce non-positivity of the interval state estimation errors. In particular, it is shown that by combining two types of interval observers, referred to as local and global, the accuracy and reliability of the estimation can be improved. The properties of the obtained so-called glocal observer are investigated and illustrated by means of numerical simulations.

Mots clés: Interval observers; Switched systems; Mode identification; Uncertain systems

Domaines: Automatique / Robotique

Damiano Rotondo, Denis Efimov, Andrea Cristofaro, Tor Arne Johansen. Estimation in uncertain switched systems using a bank of interval observers: local vs glocal approach. IFAC 2020 - 21rst IFAC World Congress, Jul 2020, Berlin, Germany. ⟨hal-02634537⟩