An Ellipsoidal Set-Membership Approach to Distributed Joint State and Sensor Fault Estimation of Autonomous Ground Vehicles

Eman Mousavinejad; Xiaohua Ge; Qing-Long Han; Teng Joon Lim; Ljubo Vlacic

doi:10.1109/JAS.2021.1004015

Volume 8 Issue 6

Jun. 2021

IEEE/CAA Journal of Automatica Sinica

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Article Navigation > IEEE/CAA Journal of Automatica Sinica > 2021 > 8(6): 1107-1118

E. Mousavinejad, X. H. Ge, Q.-L. Han, T. J. Lim, and L. Vlacic, "An Ellipsoidal Set-Membership Approach to Distributed Joint State and Sensor Fault Estimation of Autonomous Ground Vehicles," IEEE/CAA J. Autom. Sinica, vol. 8, no. 6, pp. 1107-1118, Jun. 2021. doi: 10.1109/JAS.2021.1004015

Citation:

E. Mousavinejad, X. H. Ge, Q.-L. Han, T. J. Lim, and L. Vlacic, "An Ellipsoidal Set-Membership Approach to Distributed Joint State and Sensor Fault Estimation of Autonomous Ground Vehicles," IEEE/CAA J. Autom. Sinica, vol. 8, no. 6, pp. 1107-1118, Jun. 2021. doi: 10.1109/JAS.2021.1004015

Citation:

E. Mousavinejad, X. H. Ge, Q.-L. Han, T. J. Lim, and L. Vlacic, "An Ellipsoidal Set-Membership Approach to Distributed Joint State and Sensor Fault Estimation of Autonomous Ground Vehicles," IEEE/CAA J. Autom. Sinica, vol. 8, no. 6, pp. 1107-1118, Jun. 2021. doi: 10.1109/JAS.2021.1004015

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An Ellipsoidal Set-Membership Approach to Distributed Joint State and Sensor Fault Estimation of Autonomous Ground Vehicles

doi: 10.1109/JAS.2021.1004015

1.
School of Electrical and Information Engineering, The University of Sydney, Sydney, NSW 2006, Australia
2.
School of Software and Electrical Engineering, Swinburne University of Technology, Melbourne, VIC 3122, Australia
3.
School of Engineering and Built Environment, Griffith University, Gold Coast, QLD 4222, Australia

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Author Bio:
Eman Mousavinejad (S’14–M’19) received the B.Sc. degree in mechanical engineering from AzadUniversity, Tehran, Iran, in 2006, the M.Sc. degree in mechatronics (control engineering) from the Sharif University of Technology, Tehran, Iran, in 2009, the M.Phil. and Ph.D. degrees in mechatronics (control engineering) from Griffith University, Gold Coast, QLD, Australia, in 2016 and 2020, respectively. Dr. Mousavinejad is currently a Research Associate with the School of Electrical and Information Engineering, the University of Sydney, Sydney, NSW, Australia. He is also a Visiting Research Fellow with the School of Engineering and Built Environment, Griffith University. His current research interests include secure, intelligent, and distributed control and estimation, reinforcement learning, and cyber-physical systems. Dr. Mousavinejad was a recipient of the Award of Excellence in a ResearchThesis, Griffith University in 2020

Xiaohua Ge (M’18–SM’21) received the B.Eng. de-gree in electronics and information engineering from Nanchang Hangkong University, Nanchang, China, in 2008, the M.Eng. degree in control theory and control engineering from Hangzhou Dianzi University, Hangzhou, China, in 2011, and the Ph.D. degree in computer engineering from Central Queensland University, Rockhampton, QLD, Australia, in 2014. From 2011 to 2013, he was a Research Assistantwith the Centre for Intelligent and Networked Sys-tems, Central Queensland University, where he was a Research Fellow in 2014. From 2015 to 2017, he was a Research Fellow with the Griffith School of Engineering, Griffith University, Gold Coast, QLD, Australia. He is currently a Senior Lecturer with the School of Software and Electrical Engineering, Swinburne University of Technology, Melbourne, VIC, Australia. His research interests include networked, event-triggered, secure,and intelligent control and estimation, and their applications in autonomous vehicles and connected vehicles. Dr. Ge is a Highly Cited Researcher according to Clarivate Analytics. He received The 2019 IEEE Systems, Man, and Cybernetics Society Andrew P. Sage Best Transactions Paper Award, The 2020 IEEE/CAA Journal of Auto-matica Sinica Outstanding Reviewer Award, and The 2017 IEEE Transactions on Cybernetics Outstanding Reviewer Award. He is an Associate Editor of the IEEE TRANSACTION ON SYSTEMS, MAN, AND CYBERNETICS: SYSTEMS, and was a Guest Editor for several Special Issues

Qing-Long Han (M’09–SM’13–F’19) received the B.Sc. degree in Mathematics from Shandong Normal University, Jinan, China, in 1983, and the M.Sc. and Ph.D. degrees in Control Engineering from East China University of Science and Technology, Shanghai, China, in 1992 and 1997, respectively. Professor Han is Pro Vice-Chancellor (Research Quality) and a Distinguished Professor at Swinburne University of Technology, Melbourne, Australia. He held various academic and management positions at Griffith University and Central Queensland University, Australia. His research interests include networked control systems, multi-agent systems, time-delay systems, smart grids, unmanned surface vehicles, and neural networks. Professor Han was a Highly Cited Researcher in both Essential Science Indicator fields of Engineering and Computer Science (Clarivate Analytics, 2019-2020). He was one of Australia’s Top 5 Lifetime Achievers (Research Superstars) in Engineering and Computer Science (The Australian’s 2020 Research Magazine). He was the recipient of The 2021 M. A. Sargent Medal, which is awarded by Engineers Australia for longstanding eminence in science or the practice of electrical engineering. It is an award recognising overall career achievements. The prestigious M. A. Sargent Medal is the Highest Award of the Electrical College Board of Engineers Australia and consists of an engraved medal and framed certificate. He was the recipient of The 2020 IEEE Systems, Man, and Cybernetics (SMC) Society Andrew P. Sage Best Transactions Paper Award, The 2020 IEEE Transactions on Industrial Informatics Outstanding Paper Award, and The 2019 IEEE SMC Society Andrew P. Sage Best Transactions Paper Award. Professor Han is a Fellow of The Institution of Engineers Australia. He has served as an AdCom Member of IEEE Industrial Electronics Society (IES), a Member of IEEE IES Fellow Committee, and Chair of IEEE IES Technical Committee on Networked Control Systems. He has acted as CoEditor for Australian Journal of Electrical & Electronics Engineering, an Associate Editor for 12 international journals, including the IEEE TRANSACTIONS ON CYBERNETICS, the IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS, IEEE INDUSTRIAL ELECTRONICS MAGAZINE, the IEEE/CAA JOURNAL OF AUTOMATICA SINICA, Control Engineering Practice, and Information Sciences, and a Guest Editor for 14 Special Issues

Teng Joon (T. J.) Lim (S’92–M’95–SM’02–F’17) obtained the B.Eng. degree in Electrical Engineering with first-class honours from the National University of Singapore (NUS) in 1992, and the Ph.D. degree from the University of Cambridge in 1996. From September 1995 to November 2000, he was a researcher at the Centre for Wireless Communications in Singapore, one of the predecessors of the Institute for Infocomm Research (I2R). From December 2000 to May 2011, he was Assistant Professor, Associate Professor, then Professor at the University of Toronto’s Edward S. Rogers Sr. Department of Electrical and Computer Engineering. From June 2011 to January 2020, he was a Professor at the Electrical & Computer Engineering Department of NUS, where he served as a Deputy Head from July 2014 to August 2015. From September 2015 through December 2019, he served as Vice-Dean (Graduate Programs) in the NUS Faculty of Engineering. Since January 2020, he has served as Deputy Dean and Associate Dean (Education) at the Faculty of Engineering in the University of Sydney. Professor Lim is an Associate Editor for IEEE Potentials, was an Area Editor of the IEEE Transactions on Wireless Communications from September 2013 to September 2018, and previously served as an Associate Editor for the same journal. He has also served as an Associate Editor for IEEE Wireless Communications Letters, Wiley Transactions on Emerging Telecommunications Technologies (ETT), IEEE Signal Processing Letters and IEEE Transactions on Vehicular Technology. He has volunteered on the organizing committee of a number of IEEE conferences, including serving as the TPC co-chair of IEEE Globecom 2017. He chaired the Singapore chapter of the IEEE Communications Society in 2017 and 2018, and was a Distinguished Lecturer of the IEEE Vehicular Technology Society for 2019-20. He was also a co-winner of the IEEE Communications Society’s 2020 Heinrich Hertz Award for Best Communication Letter. Professor Lim’s research interests span many topics within wireless communications, including cyber-security in the Internet of Things, heterogeneous networks, cooperative transmission, energy-optimized communication networks, multi-carrier modulation, MIMO, cooperative diversity, cognitive radio, and stochastic geometry for wireless networks, and he has published widely in these areas

Ljubo Vlacic (M’92–SM’96) received the Graduate Diploma degree in electrical engineering and theM.Phil. and Ph.D. degrees in control systems engineering from the University of Sarajevo, Sarajevo, Bosnia and Herzegovina, in 1973, 1976, and 1986, respectively. He also graduated Conservatorium of Music (Violin), the University of Sarajevo in 1976. Professor Emeritus Vlacic is a Control Systems Scientist and a Practitioner, renowned for his contributions to co-operative driverless vehicles and intelligent control systems research and development. He has held a number of leading roles in both industry and academia. He is currently with the Institute for Integrated and Intelligent Systems, Griffith University, Queensland, Australia. Professor Emeritus Vlacic is a recipient of 22 awards, including the IEE Achievement Medal (world-wide), the Sir Lionel Hooke Award, the Queensland Professional Engineer of the Year Award, the Gold Coast Business Events Ambassador Award, etc. He organised and hosted twelve national and international scientific conferences. His research achievements made news headlines and were broadcast through media outlets throughout the world. Professor Emeritus Vlacic is currently the Editor-in-Chief of the IEEE Intelligent Transportation Systems Magazine, Chair of the IET Queensland Local Network and Chair of the IET Australia Forum. He played violin with professional symphony orchestra
Corresponding author: Qing-Long Han, e-mail: qhan@swin.edu.au
Received Date: 2021-02-09
Revised Date: 2021-03-14

Available Online: 2021-03-18

Abstract

Abstract

This paper is concerned with the problem of distributed joint state and sensor fault estimation for autonomous ground vehicles subject to unknown-but-bounded (UBB) external disturbance and measurement noise. In order to improve the estimation reliability and performance in cases of poor data collection and potential communication interruption, a multi-sensor network configuration is presented to cooperatively measure the vehicular yaw rate, and further compute local state and fault estimates. Toward this aim, an augmented descriptor vehicle model is first established, where the unknown sensor fault is modeled as an auxiliary state of the system model. Then, a new distributed ellipsoidal set-membership estimation approach is developed so as to construct an optimized bounding ellipsoidal set which guarantees to contain the vehicle’s true state and the sensor fault at each time step despite the existence of UBB disturbance and measurement noises. Furthermore, a convex optimization algorithm is put forward such that the gain matrix of each distributed estimator can be recursively obtained. Finally, simulation results are provided to validate the effectiveness of the proposed approach.
- Autonomous ground vehicle (AGV),
- distributed set-membership estimation,
- fault estimation,
- sensor networks,
- vehicle lateral dynamics

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References

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An Ellipsoidal Set-Membership Approach to Distributed Joint State and Sensor Fault Estimation of Autonomous Ground Vehicles

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