Zonotopic Set-Membership Fusion Estimation for Multi-Sensor Systems Under FlexRay Protocol

Abstract

Networked multi-sensor systems operating under the FlexRay protocol (FRP) are widely used in automotive industry, where reliable state estimation under bounded uncertainties is of fundamental importance. In such systems, the measurement information from multiple sensors is transmitted to the estimator through a network governed by the FRP, which induces scheduling constraints and switching behaviors in the estimation process. These characteristics make it challenging to guarantee accuracy and boundedness of the state estimates using conventional methods. This paper investigates the zonotopic set-membership fusion estimation (SMFE) problem for multi-sensor systems under the FRP. The research objective is to design a parallel fusion estimation algorithm for the transformed switched system, to establish a sufficient condition guaranteeing the ultimate boundedness of the radii of the resulting zonotopes, and to improve the transient estimation performance. An SMFE algorithm is proposed to recursively calculate the zonotopes that constrain the system state by exploiting the properties of zonotopes. A sufficient condition is derived to ensure the ultimate boundedness of the output zonotopes’ radii, which explicitly takes into account both the scheduling of the FRP and the adverse effect of zonotope order reduction on estimation performance. Furthermore, a matrix-inequality-based method is developed to construct an additional enclosing zonotope, based on which a tighter zonotope is obtained at each time instant to enhance the transient performance. The efficacy of the proposed SMFE method is demonstrated through two simulation experiments.