Zonotopic set-membership state estimation for switched systems

Abstract

This paper proposes a new approach for set-membership state estimation of switched discrete-time linear systems subject to bounded disturbances and noises. A zonotopic outer approximation of the state estimation domain is computed and a new criterion is proposed to reduce the size of the zonotope at each sample time. The zonotopic set-membership estimator design for switched systems is provided within the LMI framework. The extension of the proposed scheme to deal with unknown inputs is also presented. An application to vehicle lateral dynamics state estimation is provided. Simulation results demonstrate the effectiveness of the proposed algorithm and highlight its advantages over the existing methods.