Distributed State Estimation Over Time-Varying Graphs: Exploiting the Age-of-Information

DOI10.1109/TAC.2021.3130882MaRDI QIDQ6053143zbMATH OpenOpenAlexFDO

Authors Aritra Mitra, Saurabh Bagchi, John A. Richards, Shreyas Sundaram

Publication date 26 September 2023

Published in IEEE Transactions on Automatic Control (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/2001.07006

Mathematics Subject Classification ID

Systems theory; control (93-XX)

Abstract: We study the problem of designing a distributed observer for an LTI system over a time-varying communication graph. The limited existing work on this topic imposes various restrictions either on the observation model or on the sequence of communication graphs. In contrast, we propose a single-time-scale distributed observer that works under mild assumptions. Specifically, our communication model only requires strong-connectivity to be preserved over non-overlapping, contiguous intervals that are even allowed to grow unbounded over time. We show that under suitable conditions that bound the growth of such intervals, joint observability is sufficient to track the state of any discrete-time LTI system exponentially fast, at any desired rate. In fact, we also establish finite-time convergence based on our approach. Finally, we develop a variant of our algorithm that is provably robust to worst-case adversarial attacks, provided the sequence of graphs is sufficiently connected over time. The key to our approach is the notion of a "freshness-index" that keeps track of the age-of-information being diffused across the network. Such indices enable nodes to reject stale estimates of the state, and, in turn, contribute to stability of the error dynamics.

Cited in

(5)

• Graph-theoretic approaches for analyzing the resilience of distributed control systems: a tutorial and survey
• Split-spectrum based distributed state estimation for linear systems
• Distributed event-triggered consensus control for multi-agent systems under independent DoS attacks: a randomized transmission approach
• Quality evaluation-based resilient distributed state estimation over time-varying networks via multi-hop communication
• Distributed state estimation for discrete-time uncertain linear systems over jointly connected switching networks

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