Estimation in uncertain switched systems using a bank of interval observers: local vs glocal approach ?

摘要

This paper discusses some issues related with the design of a bank of interval observers for uncertain switched systems, in which several sources of uncertainty are considered: parametric uncertainties, unknown disturbances, measurement noise, and unknown switching signal. More specifically, this paper focuses on analyzing the interval estimation accuracy when changes of active mode induce non-positivity of the interval state estimation errors. In particular, it is shown that by combining two types of interval observers, referred to aslocalandglobal,the accuracy and reliability of the estimation can be improved. The properties of the obtained so-calledglocalobserver are investigated and illustrated by means of numerical simulations.