State estimation for networked uncertain nonlinear systems with time-delays

Abstract

This paper investigates state estimation for uncertain nonlinear discrete systems with time-delays over unreliable communication channels. The Bernoulli model is used to describe the packet dropout conditions of the control information and the measurement. The extended state approach is introduced to deal with the nonlinear uncertainty, and an extended state system is obtained. The state predictor and the state estimator are designed based on unreliable control inputs and measurements, and their error systems are derived. The iterative equation of the state predictive error covariance is achieved, and its optimal estimator gain is derived. An iterative algorithm is proposed to further optimize the state predictive error covariance. A necessary and sufficient condition to ensure the stability of the state predictive error covariance is achieved. Finally, a numerical example is presented to illustrate the effectiveness of the developed results.