Robust stability of moving horizon estimation for nonlinear systems with bounded disturbances using adaptive arrival cost
This work addresses robust estimation for nonlinear detectable systems, which is incremental as it builds on existing moving horizon estimation techniques.
The paper tackles the problem of robust state estimation for nonlinear systems with bounded disturbances by establishing robust global asymptotic stability and convergence to the true state for a moving horizon estimator with an adaptive arrival cost, with simulations showing its behavior compared to state-of-the-art methods.
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.