Moving Horizon State Estimation for Networked Control Systems With Multiple Packet Dropouts

This technical note studies some of the challenging issues on moving horizon state estimation for networked control systems in the presence of multiple packet dropouts in both sensor-to-controller and controller-to-actuator channels, which both situations are modeled by two mutually independent stochastic variables satisfying the Bernoulli binary distribution. Compared with standard Kalman filter, this study proposes a novel moving horizon estimator to deal with the uncertainties induced from the multiple packet dropouts, which has a larger degree of freedom to obtain better behavior by tuning the weight parameters. A sufficient condition for the convergence of the norm of the average estimation error is also presented to guarantee the performance of the estimator. Finally, a real-time simulation experiment is presented to demonstrate the feasibility and efficiency of the proposed method.