H∞ State Estimation for Discrete-Time Delayed Systems of the Neural Network Type With Multiple Missing Measurements

Sampled-Data State Estimation for LSTM

This article first introduces a sampled-data state estimator design method for continuous-time long short-term memory (LSTM) neural networks with irregularly sampled output. To this end, the structure of the LSTM is addressed to obtain its dynamic equation. As a result, the LSTM neural network is modeled as a continuous-time linear parameter-varying system that is dependent on the gate units. For this system, the sampled-data Luenberger- and Arcak-type state estimator design methods are presented in terms of linear matrix inequalities (LMIs) by using the properties of the gate units. Lastly, the proposed method not only provides a numerical example for analyzing absolute stability but also demonstrates it in practice by applying a pre-trained behavior generation model of a robot manipulator.

Delay Compensation-Based State Estimation for Time-Varying Complex Networks With Incomplete Observations and Dynamical Bias

In this article, a delay-compensation-based state estimation (DCBSE) method is given for a class of discrete time-varying complex networks (DTVCNs) subject to network-induced incomplete observations (NIIOs) and dynamical bias. The NIIOs include the communication delays and fading observations, where the fading observations are modeled by a set of mutually independent random variables. Moreover, the possible bias is taken into account, which is depicted by a dynamical equation. A predictive scheme is proposed to compensate for the influences induced by the communication delays, where the predictive-based estimation mechanism is adopted to replace the delayed estimation transmissions. This article focuses on the problems of estimation method design and performance discussions for addressed DTVCNs with NIIOs and dynamical bias. In particular, a new distributed state estimation approach is presented, where a locally minimized upper bound is obtained for the estimation error covariance matrix and a recursive way is designed to determine the estimator gain matrix. Furthermore, the performance evaluation criteria regarding the monotonicity are proposed from the analytic perspective. Finally, some experimental comparisons are proposed to show the validity and advantages of the new DCBSE approach.

Remote State Estimation of Nonlinear Systems Over Fading Channels via Recurrent Neural Networks

In this article, we consider the remote state estimation for nonlinear dynamic systems with known linear dynamics and unknown nonlinear perturbations. The nonlinear dynamic plant is monitored by multiple distributed sensors over a random access wireless network with shared common radio channel. We focus on the communication strategy and remote state estimation algorithm design so as to achieve a remote state estimation stability subject to unknown nonlinearities in plant and various wireless impairments, such as multisensor interference, wireless fading, and additive channel noise. By exploiting the additive properties of the physical wireless channels, we propose a novel information fusion over-the-air mechanism to address the signal collision and interference among the sensors. Utilizing the partial knowledge on the linear dynamics of the plant, we also propose a novel recurrent neural network (RNN)-based remote state estimator aided by a virtual state estimation mean-square-error (MSE) process. We further propose a novel online training algorithm such that the RNN at the remote estimator can effectively learn the unknown plant nonlinearities. Using the Lyapunov drift analysis approach, we establish closed-form sufficient requirements on the communication resources needed to achieve almost sure stability of both state estimation and RNN online training in high signal-to-noise ratio (SNR) regime. As a result, our proposed scheme is asymptomatic optimal for large SNR in the sense that both the plant state and the unknown plant nonlinearities can be perfectly recovered at the remote estimator. The proposed scheme is also compared with various baselines and we show that significant performance gains can be achieved.

Adaptive Asymptotic Regulation for Uncertain Nonlinear Stochastic Systems with Time-Varying Delays

In this paper, for a class of uncertain stochastic nonlinear systems with input time-varying delays, an adaptive neural dynamic surface control (DSC) method is proposed. To approximate the unknown continuous functions online, the neural network approximation technique was applied, and based on the DSC scheme, the desired controller was constructed. A compensation system is presented to compensate for the effect of the input delay. The Lyapunov–Krasovskii functionals (LKFs) were employed to compensate for the effect of the state delay. Compared with the existing works, based on using the DSC scheme with the nonlinear filter and stochastic Barbalat’s lemma, the asymptotic regulation performance of this closed-loop system can be guaranteed under the developed controller. To certify the availability for the designed control method, some simulation results are presented.

Outlier-Resistant Remote State Estimation for Recurrent Neural Networks With Mixed Time-Delays

In this brief, a new outlier-resistant state estimation (SE) problem is addressed for a class of recurrent neural networks (RNNs) with mixed time-delays. The mixed time delays comprise both discrete and distributed delays that occur frequently in signal transmissions among artificial neurons. Measurement outputs are sometimes subject to abnormal disturbances (resulting probably from sensor aging/outages/faults/failures and unpredictable environmental changes) leading to measurement outliers that would deteriorate the estimation performance if directly taken into the innovation in the estimator design. We propose to use a certain confidence-dependent saturation function to mitigate the side effects from the measurement outliers on the estimation error dynamics (EEDs). Through using a combination of Lyapunov-Krasovskii functional and inequality manipulations, a delay-dependent criterion is established for the existence of the outlier-resistant state estimator ensuring that the corresponding EED achieves the asymptotic stability with a prescribed H_∞ performance index. Then, the explicit characterization of the estimator gain is obtained by solving a convex optimization problem. Finally, numerical simulation is carried out to demonstrate the usefulness of the derived theoretical results.

Nonfragile State Estimation of Quantized Complex Networks With Switching Topologies

This paper considers the nonfragile $H_\infty $ estimation problem for a class of complex networks with switching topologies and quantization effects. The network architecture is assumed to be dynamic and evolves with time according to a random process subject to a sojourn probability. The coupled signal is to be quantized before transmission due to power and bandwidth constraints, and the quantization errors are transformed into sector-bounded uncertainties. The concept of nonfragility is introduced by inserting randomly occurred uncertainties into the estimator parameters to cope with the unavoidable small gain variations emerging from the implementations of estimators. Both the quantizers and the estimators have several operation modes depending on the switching signal of the underlying network structure. A sufficient condition is provided via a linear matrix inequality approach to ensure the estimation error dynamic to be stochastically stable in the absence of external disturbances, and the $H_\infty $ performance with a prescribed index is also satisfied. Finally, a numerical example is presented to clarify the validity of the proposed method.

Remote Estimator Design for Time-Delay Neural Networks Using Communication State Information

This paper investigates the estimator design for the neural networks, where distributed delays and imperfect measurements are included. A randomly occurred neuron-dependent nonlinearity is used to describe the uncertain measurements disturbed by neurons. The measurements are transmitted over multiple transmission channels, and Markov chains are introduced to model packet dropouts of these channels. A one-to-one map is constructed to transform $m$ independent Markov chains to an augmented one to facilitate system analysis. A new variable called channel state is defined based on the cases of packet dropouts, and the channel-state-dependent estimator is designed to trade off between the number and the performance of the estimator. Sufficient conditions are established to guarantee that the augmented system is stochastically stable and satisfies the strict $(Q, S, R)-\gamma -$ dissipativity. The estimator gains are derived using linear matrix methods. Finally, an example is applied to illustrate the effectiveness of the developed methods.

Variance-Constrained State Estimation for Complex Networks With Randomly Varying Topologies

This paper investigates the variance-constrained state estimation problem for a class of nonlinear time-varying complex networks with randomly varying topologies, stochastic inner coupling, and measurement quantization. A Kronecker delta function and Markovian jumping parameters are utilized to describe the random changes of network topologies. A Gaussian random variable is introduced to model the stochastic disturbances in the inner coupling of complex networks. As a kind of incomplete measurements, measurement quantization is taken into consideration so as to account for the signal distortion phenomenon in the transmission process. Stochastic nonlinearities with known statistical characteristics are utilized to describe the stochastic evolution of the complex networks. We aim to design a finite-horizon estimator, such that in the simultaneous presence of quantized measurements and stochastic inner coupling, the prescribed variance constraints on the estimation error and the desired performance requirements are guaranteed over a finite horizon. Sufficient conditions are established by means of a series of recursive linear matrix inequalities, and subsequently, the estimator gain parameters are derived. A simulation example is presented to illustrate the effectiveness and applicability of the proposed estimator design algorithm.

UFIR Filtering for GPS-Based Tracking over WSNs with Delayed and Missing Data

In smart cities, vehicles tracking is organized to increase safety by localizing cars using the Global Positioning System (GPS). The GPS-based system provides accurate tracking but is also required to be reliable and robust. As a main estimator, we propose using the unbiased finite impulse response (UFIR) filter, which meets these needs as being more robust than the Kalman filter (KF). The UFIR filter is developed for vehicle tracking in discrete-time state-space over wireless sensor networks (WSNs) with time-stamped data discretely delayed on k-step-lags and missing data. The state-space model is represented in a way such that the UFIR filter, KF, and H∞ filter can be used universally. Applications are given for measurement data, which are cooperatively transferred from a vehicle to a central station through several nodes with k-step-lags. Better tracking performance of the UFIR filter is shown experimentally.

State Estimation for General Complex Dynamical Networks with Incompletely Measured Information

Estimating uncertain state variables of a general complex dynamical network with randomly incomplete measurements of transmitted output variables is investigated in this paper. The incomplete measurements, occurring randomly through the transmission of output variables, always cause the failure of the state estimation process. Different from the existing methods, we propose a novel method to handle the incomplete measurements, which can perform well to balance the excessively deviated estimators under the influence of incomplete measurements. In particular, the proposed method has no special limitation on the node dynamics compared with many existing methods. By employing the Lyapunov stability theory along with the stochastic analysis method, sufficient criteria are deduced rigorously to ensure obtaining the proper estimator gains with known model parameters. Illustrative simulation for the complex dynamical network composed of chaotic nodes are given to show the validity and efficiency of the proposed method.

Filtering of Discrete-Time Switched Neural Networks Ensuring Exponential Dissipative and $l_{2}$ - $l_{\infty }$ Performances

This paper studies delay-dependent exponential dissipative and l₂ - l_∞ filtering problems for discrete-time switched neural networks (DSNNs) including time-delayed states. By introducing a novel discrete-time inequality, which is a discrete-time version of the continuous-time Wirtinger-type inequality, we establish new sets of linear matrix inequality (LMI) criteria such that discrete-time filtering error systems are exponentially stable with guaranteed performances in the exponential dissipative and l₂ - l_∞ senses. The design of the desired exponential dissipative and l₂ - l_∞ filters for DSNNs can be achieved by solving the proposed sets of LMI conditions. Via numerical simulation results, we show the validity of the desired discrete-time filter design approach.

Delay-distribution-dependent H∞ state estimation for delayed neural networks with (x,v)-dependent noises and fading channels

This paper deals with the H_∞ state estimation problem for a class of discrete-time neural networks with stochastic delays subject to state- and disturbance-dependent noises (also called (x,v)-dependent noises) and fading channels. The time-varying stochastic delay takes values on certain intervals with known probability distributions. The system measurement is transmitted through fading channels described by the Rice fading model. The aim of the addressed problem is to design a state estimator such that the estimation performance is guaranteed in the mean-square sense against admissible stochastic time-delays, stochastic noises as well as stochastic fading signals. By employing the stochastic analysis approach combined with the Kronecker product, several delay-distribution-dependent conditions are derived to ensure that the error dynamics of the neuron states is stochastically stable with prescribed H_∞ performance. Finally, a numerical example is provided to illustrate the effectiveness of the obtained results.