In this paper, we study the problem of designing a simultaneous mode, input, and state set-valued observer for a class of hidden mode switched nonlinear systems with bounded-norm noise and unknown input signals, where the hidden mode and unknown inputs can represent fault or attack models and exogenous fault/disturbance or adversarial signals, respectively. The proposed multiple-model design has three constituents: (i) a bank of mode-matched set-valued observers, (ii) a mode observer, and (iii) a global fusion observer. The mode-matched observers recursively find the sets of compatible states and unknown inputs conditioned on the mode being the true mode, while the mode observer eliminates incompatible modes by leveraging a residual-based criterion. Then, the global fusion observer outputs the estimated sets of states and unknown inputs by taking the union of the mode-matched set-valued estimates over all compatible modes. Moreover, sufficient conditions to guarantee the elimination of all false modes (i.e., mode-detectability) are provided and the effectiveness of our approach is demonstrated and compared with existing approaches using an illustrative example.

中文翻译：

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切换非线性系统的同时模式，状态和输入集值观测器

在本文中，我们研究了为一类具有界范噪声和未知输入信号的隐藏模式切换非线性系统设计同时模式，输入和状态集值观测器的问题，其中隐藏模式和未知输入可以表示故障或攻击模型以及外生故障/干扰或对抗信号。拟议的多模型设计具有三个组成部分：（i）一堆模式匹配的集合值观察者，（ii）一个模式观察者，和（iii）一个全局融合观察者。模式匹配的观察者以模式为真模式递归地找到兼容状态和未知输入的集合，而模式观察者则通过利用基于残差的标准来消除不兼容的模式。然后，全局融合观察器通过对所有兼容模式进行模式匹配的集合值估计的并集，输出状态和未知输入的估计集合。而且，提供了保证消除所有错误模式的充分条件（即模式可检测性），并通过一个示例性的例子证明了我们方法的有效性并将其与现有方法进行了比较。