Set-Membership State Estimation for Unmanned Surface Vehicle Steering Motion With Try-Once-Discard Protocol

Abstract

This article proposes a set-membership state estimation issue for unmanned surface vehicle (USV) steering motion under wireless sensor networks with try-once-discard (TOD) scheduling protocol. The discrete-time USV steering motion model with unknown but bounded noises and uncertain parameters is established based on the set-membership approach and norm bounded uncertainties. TOD protocol is employed to schedule sensor measurements dealing with the problem of medium access constraint in networked communication. A remote set-membership state estimator with a time-varying gain is designed for onshore human supervisors to aware the USV state in sway, yaw, and roll. Then a sufficient condition is established by the mathematical induction, ensuring that the estimation error is constrained by a time-varying ellipsoid, and the ellipsoid is minimized by a recursive optimization algorithm. Finally, the validity of the proposed estimation method is verified via a numerical example.