Robust state estimation for systems with irregular sensing failure

This paper proposes a method for robust state estimation for systems with irregular sensing failure. It is natural that non-contact sensors sometimes give abnormal signals (outliers) due to sensing failure. The proposed estimator switches observer gains to select normal signals based on residual values between estimation and observation. A common Lyapunov function ensures stability of the switching observer, as well as its noise property. A numerical simulation and experiment are performed to illustrate the effectiveness of the proposed method.