Set-Based State Estimation of Nonlinear Discrete-Time Systems Using Constrained Zonotopes and Polyhedral Relaxations
Authors: Brenner S. Rego, Guilherme V. Raffo, Marco H. Terra, Joseph K. Scott Source: https://arxiv.org/abs/2504.00130 (arXiv, March 2025)
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What the Paper Is About (Based on Title and Metadata)
From the title, the paper addresses:
- Set-based state estimation: computing sets that rigorously contain all states consistent with the system model, bounded disturbances, and measured outputs — providing formal guarantees rather than point estimates.
- Nonlinear discrete-time systems: the estimation problem is posed for discrete-time models with nonlinear dynamics.
- Constrained zonotopes: a set representation capable of describing unions of parallelotopes with high numerical efficiency, commonly used in verified control and estimation; they allow tight enclosures with tractable computational cost.
- Polyhedral relaxations: relaxations used to handle the nonlinear terms of the dynamics within the set-propagation framework.
- https://arxiv.org/abs/2504.00130
Original Paper Link
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