Robust stability of moving horizon estimation for nonlinear systems with bounded disturbances using adaptive arrival cost
Systems and Control
2024-09-23 v1 Performance
Robotics
Systems and Control
Abstract
In this paper, the robust stability and convergence to the true state of moving horizon estimator based on an adaptive arrival cost are established for nonlinear detectable systems. Robust global asymptotic stability is shown for the case of non-vanishing bounded disturbances whereas the convergence to the true state is proved for the case of vanishing disturbances. Several simulations were made in order to show the estimator behaviour under different operational conditions and to compare it with the state of the art estimation methods.
Keywords
Cite
@article{arxiv.1906.01060,
title = {Robust stability of moving horizon estimation for nonlinear systems with bounded disturbances using adaptive arrival cost},
author = {Nestor N. Deniz and Marina H. Murillo and Guido Sanchez and Lucas M. Genzelis and Leonardo Giovanini},
journal= {arXiv preprint arXiv:1906.01060},
year = {2024}
}
Comments
Under revision at IET Control theory and applications