Decentralized observers with consensus filters for distributed discrete-time linear systems

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• 作者：Behç ; et Aç ; 谋kme艧e^a ; ¹ ; ^{behcet@austin.utexas.edu" class="auth_mail}Author Vitae ; Milan Mandi膰^b ; ^{Milan.Mandic@jpl.nasa.gov" class="auth_mail}Author Vitae ; Jason L. Speyer^c ; ^{speyer@seas.ucla.edu" class="auth_mail}Author Vitae
• 关键词：Observers ; Distributed systems ; Graph theory ; Linear matrix inequalities
• 刊名：Automatica
• 出版年：April, 2014
• 年：2014
• 卷：50
• 期：4
• 页码：1037-1052
• 全文大小：1184 K

文摘

This paper presents a decentralized observer with a consensus filter for the state observation of discrete-time linear distributed systems. Each agent in the distributed system has an observer with a model of the plant that utilizes the set of locally available measurements, which may not make the full plant state detectable. This lack of detectability is overcome by utilizing a consensus filter that blends the state estimate of each agent with its neighbors鈥?estimates. It is proven that the state estimates of the proposed observer exponentially converge to the actual plant states under arbitrarily changing, but connected, communication and pseudo-connected sensing graph topologies. Except these connectivity properties, full knowledge of the sensing and communication graphs is not needed at the design time. As a byproduct, we obtained a result on the location of eigenvalues, i.e., the spectrum, of the Laplacian for a family of graphs with self-loops.