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Cascade DiscreteContinuous State Estimators for a Class of Monotone Systems 
Abstract 
A cascade discretecontinuous state estima … A cascade discretecontinuous state estimator design is presented for a class of monotone systems
with both continuous and discrete state evolution. The proposed estimator exploits the partial order preserved by
the system dynamics in order to satisfy two properties. First, its computation complexity scales with the number
of variables to be estimated instead of scaling with the size of the discrete state space. Second, a separation
principle holds: the continuous state estimation error is bounded by a monotonically decreasing function of the
discrete state estimation error, the latter one converging to zero. A multirobot example is proposed. o zero. A multirobot example is proposed. +


Authors  Domitilla Del Vecchio and Richard M. Murray + 
ID  2004r + 
Source  Submitted, 2005 IFAC World Congress + 
Tag  dm05ifac + 
Title  Cascade DiscreteContinuous State Estimators for a Class of Monotone Systems + 
Type  Conference Paper + 
Categories  Papers 
Modification date This property is a special property in this wiki.

15 May 2016 06:18:13 + 
URL This property is a special property in this wiki.

http://www.cds.caltech.edu/~murray/preprints/dm05ifac.pdf + 
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