Set-based state estimation of nonlinear systems using constrained zonotopes and interval arithmetic

Abstract

This paper proposes a novel set-valued state estimation algorithm for nonlinear discrete-time systems with unknown-but-bounded disturbances. The problem is often addressed through conservative linearization, leading to severe overestimation. By combining important properties from interval arithmetic and the recently proposed constrained zonotopes, a highly tunable and accurate state estimation algorithm is developed, capable of providing tight bounds for the set-valued state estimation problem. A numerical experiment is presented to demonstrate the performance of the proposed strategy.