Zonotopic interval estimation for autonomous underwater vehicles: A two-step method

This paper proposes a two-step interval estimation method for autonomous underwater vehicles subject to unknown-but-bounded disturbances and measurement noise. First, a generalized L–K observer structure is considered to provide a point state estimation. The observer gains are tuned by solving an optimization problem based on the peak-to-peak estimation performance index. Subsequently, zonotopic reachability analysis is applied to the error dynamics to compute tight state intervals. The proposed method circumvents the restrictive positivity constraint of traditional interval observers. Experimental validation on the “Wukong 1000” AUV demonstrates the effectiveness of the proposed method.