Non-Fragile Set-Membership Filtering Approach for Localization of Automatic Guided Vehicles with Control Input Constraint

This paper investigates the remote localization of networked automated guided vehicle (AGV). Considering unknown-but-bounded (UBB) noise, time delay and input constraint, a non-fragile ellipsoidal set-membership filter is designed for the AGV system. Sufficient condition for the existence of the non-fragile ellipsoidal set-membership filter are derived, and a recursive algorithm is provided to compute the optimal local estimation ellipsoids which enclose the true AGV's position state. Finally, an illustration example confirms the effectiveness of the proposed non-fragile ellipsoidal set-membership filtering method for AGV remote localization.