Recursive Set-Membership State Estimation Over a FlexRay Network

• Published in: IEEE transactions on systems, man, and cybernetics. Systems Vol. 52; no. 6; pp. 3591 - 3601
• Main Authors: Liu, Shuai, Wang, Zidong, Wang, Licheng, Wei, Guoliang
• Format: Journal Article
• Language: English
• Published: New York IEEE 01.06.2022; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Algorithms; Dynamic scheduling; Ellipsoids; FlexRay network; multirate mechanism; non-Gaussian noises; Optical switches; Optimization; Protocols; Sensors; set-membership state estimation (SMSE); Signal transmission; State estimation; time-varying systems; Vehicle dynamics
• ISSN: 2168-2216; 2168-2232; 2168-2232
• DOI: 10.1109/TSMC.2021.3071390

In this article, we investigate the set-membership state estimation problem for a class of time-varying systems with non-Gaussian noises over a FlexRay network. To mitigate the communication load and improve the flexibility of the data scheduling, the FlexRay protocol (FRP) governed by both the time-triggered and event-triggered rules is exploited to regulate the signal transmission in a cyclic fashion. A new expression of the input signal to the state estimator is formulated with intention to account for the effect of the FRP. Accordingly, a multirate model (orchestrating the sampling/updating rates of the target plant, sensors, and state estimator) is proposed and then transformed into a single-rate one with the help of the lifting technique and the vector augmentation method. Subsequently, sufficient conditions are provided for the true states to always reside in an ellipsoid at each time instant in the presence of the non-Gaussian noises, and such an ellipsoid is then minimized in the matrix-trace sense. An online optimization algorithm is developed to parameterize the estimator gains by means of the solution to certain recursive matrix inequalities. Numerical results demonstrate the validity of the proposed protocol-based set-membership state estimator design scheme.