A Recursive Non-Uniform Sampling Estimator for Asynchronous Nonlinear Systems

In this paper, we consider the problem of asynchronous estimation in the presence of packet losses for the randomly sampling nonlinear system. Packet losses occur at the control input and at the measurement side. Firstly, the synchronization of the asynchronous sampling system is realized by weighti...

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Bibliographic Details
Published in:Sensors (Basel, Switzerland) Switzerland), 2024-05, Vol.24 (9), p.2882
Main Authors: Yang, Yu-Hang, Liu, Jin-Gang, Song, Shen-Min
Format: Article
Language:English
Subjects:
Algorithms
Analysis
Communication
covariance intersection fusion
interpolation
modelling
Neural networks
non-uniform sampling
Parameter identification
Random variables
Sensors
state estimation
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Summary:In this paper, we consider the problem of asynchronous estimation in the presence of packet losses for the randomly sampling nonlinear system. Packet losses occur at the control input and at the measurement side. Firstly, the synchronization of the asynchronous sampling system is realized by weighting the state of the adjacent state update points. Secondly, the projection theorem is used to estimate the system state at the sampling time. Due to modeling errors and unmodeled dynamics, obtaining an accurate dynamic model is challenging. Therefore, observation inference based on interpolation techniques is proposed to solve the asynchronous estimation problem. Furthermore, the algorithm is extended to multi-sensor systems to obtain a distributed fusion estimator. Finally, simulation experiments are conducted to validate the effectiveness of the algorithm.
ISSN:1424-8220
1424-8220
DOI:10.3390/s24092882