Center Difference Set Membership Filter by Zonotopes for Nonlinear System

Abstract

The paper proposes an improved approach to state estimation for nonlinear discrete-time systems based on zonotopes. To overcome the inherent defect of Taylors formula, a lower-order multi-dimensional extension of Stirling's interpolation formula is used to realize the linearization of nonlinear models. A nonlinear programming method is used to optimize the guaranteed margin of linearization error to obtain a more compact bound estimation, thereby reducing the conservativeness of the algorithm. Simulation results have shown the effectiveness and improved performance of the proposed algorithm.