Information filtering and array algorithms for discrete-time Markovian jump linear systems subject to parametric uncertainties
In this paper we present robust information filters for discrete-time Markovian jump linear systems subject to uncertainties in the parameters. We provide recursive estimations to deal with jumps, uncertainties, and unknown initial conditions of the Markovian states. The difficulty in defining initi...
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| Published in | Information sciences Vol. 369; pp. 287 - 303 |
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| Main Authors | , , |
| Format | Journal Article |
| Language | English |
| Published |
Elsevier Inc
10.11.2016
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| Subjects | |
| Online Access | Get full text |
| ISSN | 0020-0255 1872-6291 1872-6291 |
| DOI | 10.1016/j.ins.2016.06.022 |
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| Abstract | In this paper we present robust information filters for discrete-time Markovian jump linear systems subject to uncertainties in the parameters. We provide recursive estimations to deal with jumps, uncertainties, and unknown initial conditions of the Markovian states. The difficulty in defining initial conditions for this class of systems where the Markov chain is also unknown, justifies the use of information type filters. As an alternative computation method we develop array and fast array algorithms to estimate these uncertain informations. We present numerical examples to demonstrate the efectiveness of the array algorithms proposed. We present also simulation results related with the application of the robust information filter to solve mobile robot localization problems. |
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| AbstractList | In this paper we present robust information filters for discrete-time Markovian jump linear systems subject to uncertainties in the parameters. We provide recursive estimations to deal with jumps, uncertainties, and unknown initial conditions of the Markovian states. The difficulty in defining initial conditions for this class of systems where the Markov chain is also unknown, justifies the use of information type filters. As an alternative computation method we develop array and fast array algorithms to estimate these uncertain informations. We present numerical examples to demonstrate the efectiveness of the array algorithms proposed. We present also simulation results related with the application of the robust information filter to solve mobile robot localization problems. |
| Author | de Jesus, Gildson Q. Terra, Marco H. Inoue, Roberto S. |
| Author_xml | – sequence: 1 givenname: Gildson Q. surname: de Jesus fullname: de Jesus, Gildson Q. email: gildsonj@gmail.com organization: Department of Science and Technology, State University of Santa Cruz, Ilhéus, BA, Brazil – sequence: 2 givenname: Roberto S. surname: Inoue fullname: Inoue, Roberto S. email: rsinoue@ufscar.br organization: Department of Electrical Engineering, Federal University of Sã£o Carlos, Sã£o Carlos, Brazil – sequence: 3 givenname: Marco H. surname: Terra fullname: Terra, Marco H. email: terra@sc.usp.br organization: Department of Electrical Engineering, University of Sã£o Paulo, Sã£o Carlos, Brazil |
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| Cites_doi | 10.1049/iet-cta.2013.0936 10.1016/j.isatra.2014.03.015 10.1109/70.760343 10.1016/j.automatica.2012.05.028 10.1049/iet-cta.2013.0162 10.1109/TAC.2008.2007181 10.1016/j.ins.2013.08.058 10.1109/TAC.1970.1099359 10.1109/9.935054 10.1109/TAES.1978.308603 10.1080/00207170210139502 10.1109/TAC.2009.2015553 10.1002/rob.20095 10.1016/j.cam.2003.11.002 10.1016/j.sigpro.2010.04.007 10.1109/TAC.2002.800745 10.1016/S0967-0661(99)00028-3 10.1109/TAC.2013.2246475 |
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| Keywords | Array algorithm Robust estimation Discrete-time Mobile robot Markovian jump Information filter |
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| SubjectTerms | Algorithms Array algorithm Arrays Discrete-time Information filter Initial conditions Linear systems Markov processes Markovian jump Mathematical models Mobile robot Robots Robust estimation Uncertainty |
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| Title | Information filtering and array algorithms for discrete-time Markovian jump linear systems subject to parametric uncertainties |
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