Abstract
This paper presents an efficient hybrid estimation algorithm. The proposed algorithm is based on a least-squares Interacting Multiple-Model setup that simultaneously estimates the continuous state and the discrete mode of an hybrid system, providing also the associated uncertainties. The efficiency of the algorithm is achieved by excluding as many discrete mode sequences as possible with little computational effort. This is done by rapidly computing good estimates, separating the constrained and unconstrained estimates, and using some auxiliary coefficients computed off-line. The success of this state estimation algorithm is shown while compared with the Moving Horizon Estimation algorithm in a fault detection problem of the benchmark AMIRA DTS200 three-tanks system experimental setup.
This work was supported by project PTDC/EME-CRO/69117/2006 co-sponsored by FEDER, Programa Operacional Ciência e Inovação 2010, and by the grant SFRH/BPD/41496/2007, from FCT, Portugal.
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Pina, L., Botto, M.A. (2009). Dealing with Uncertainty in the Hybrid World. In: Cetto, J.A., Ferrier, JL., Filipe, J. (eds) Informatics in Control, Automation and Robotics. Lecture Notes in Electrical Engineering, vol 37. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-00271-7_2
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DOI: https://doi.org/10.1007/978-3-642-00271-7_2
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