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Title: Decentralized observer with a consensus filter for distributed discrete-time linear systems
Authors: Acikmese, Behcet
Mandic, Milan
Keywords: Decentralized estimation
embedded consensus
time-varying sensing
communication topologies
Issue Date: 29-Jun-2011
Publisher: Pasadena, CA : Jet Propulsion Laboratory, National Aeronautics and Space Administration, 2011.
Citation: IFAC, American Control Conference, San San Francisco, California, June 29, 2011
Abstract: This paper presents a decentralized observer with a consensus filter for the state observation of a discrete-time linear distributed systems. In this setup, 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’ estimates. We assume that the communication graph is connected for all times as well as the sensing graph. It is proven that the state estimates of the proposed observer asymptotically converge to the actual plant states under arbitrarily changing, but connected, communication and sensing topologies. As a byproduct of this research, we also obtained a result on the location of eigenvalues, the spectrum, of the Laplacian for a family of graphs with self-loops.
Appears in Collections:JPL TRS 1992+

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