发表机构
The Pennsylvania State University（宾夕法尼亚州立大学）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
本文提出一种基于混合zonotope和混合整数二次规划的混合系统移动时域估计方法，通过可达性计算构建可行空间并提升状态空间估计动态模式，求解速度较标准混合逻辑动态系统方法提升数个数量级。
AI 中文摘要
移动时域估计（MHE）是一种估计技术，它在过去的时域内构建优化问题，以找到使动态和测量可行所需扰动与噪声最小的状态。对于同时具有连续和离散状态的混合系统，这会产生混合整数规划形式的MHE，在计算限制下，该规划的建模和在线求解均存在困难。本文展示了如何使用混合zonotope（混合集合的表示），通过分段仿射系统的可达性计算高效构建该规划的可行空间，无需转换为混合逻辑动态系统。本文还提出了一种提升状态空间以显式估计动态模式的方法。所提方法在两个数值示例中进行了评估，与标准混合逻辑动态系统方法的对比显示，对于其中一个示例问题，所提方法的求解速度快了数个数量级。
英文摘要
Moving horizon estimation (MHE) is an estimation technique that formulates an optimization problem over a past horizon to find the states that require the minimum disturbances and noise to be feasible with the dynamics and measurements. For hybrid systems with both continuous and discrete states, this yields a mixed-integer program for the MHE, which can be difficult both to formulate and solve online under computational limitations. This paper shows how the hybrid zonotope representation for mixed-integer sets can be used to efficiently construct the feasible space for the program using reachability-based calculations for piecewise affine systems, without requiring conversion to a mixed logical dynamical system. A method for lifting the state space to explicitly estimate the dynamic mode is also presented. The proposed approach is evaluated in two numerical examples. Comparison against a standard mixed logical dynamical systems approach shows the proposed method can be solved orders of magnitude faster for one of the example problems.
