A strategy is presented to estimate the state of a nonlinear autonomous switched system, with no knowledge of the switching signal, except its dwell time. To do so, algorithms to estimate the switching times and the current mode of the system are developed. The estimation of the switching times is based on approximating the second ( generalised) derivative of the output of the system via a convolution of this signal with a suitable function and on detecting the corresponding spikes. To estimate the modes, a scheme based on the use of a bank of observers (one for each mode) and of a bank of subsystems (for each step of the estimation process a suitable subset of the subsystems of the switched system) is developed. The algorithms run regardless of the state observer model, as long as its output error norm decays exponentially with a controlled decay rate.

提出了一种策略来估计非线性自主切换系统的状态，除了其驻留时间之外，不知道切换信号。为此，开发了估计切换时间和系统当前模式的算法。切换时间的估计基于通过该信号与合适函数的卷积来近似系统输出的二阶（广义）导数，并基于检测相应的尖峰。为了估计模式，开发了一种方案，该方案基于使用一组观察器（每个模式一个）和一组子系统（对于估计过程的每个步骤，切换系统的子系统的适当子集）。无论状态观察者模型如何，算法都会运行，