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Design of zonotopic space interpolation-based smooth variable structure filter for systems with unknown but bounded
Lei-Ting Huo1, Zi-Yun Wang1, Yan Wang1
1Engineering Research Center of Internet of Things Technology and Applications (Ministry of Education), Jiangnan University, Lihu Road 1800, Wuxi, 214122, Jiangsu Province, PR China.
Abstract:
In this paper, a zonotopic space interpolation-based smooth variable structure filter (ZSI-SVSF) is proposed for state estimation under unknown but bounded noise. The approach combines zonotopic contraction to determine a state confidence envelope with cubic spline interpolation to construct a smooth boundary layer. A curvature-driven mechanism then directs the smooth variable structure filter for iterative updates, adaptively computing the estimation gain and yielding a smooth trajectory. Unlike conventional filters, ZSI-SVSF avoids covariance computations, improving efficiency, reducing conservativeness, and mitigating chattering. Its applicability extends from linear systems to nonlinear measurements via Jacobian linearization. Validation through linear simulation with a hybrid motion model and nonlinear UAV tracking under a coordinated turn model confirms improved accuracy, adaptability, and low computational cost.
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