Distributed State Estimation for Jointly Observable Linear Systems over Time-varying Networks

DOI10.1016/J.AUTOMATICA.2024.111564MaRDI QIDQ6427437zbMATH OpenOpenAlexFDO

Authors Shimin Wang, Martin Guay

Publication date 23 February 2023

Full work available at URL https://doi.org/10.1016/j.automatica.2024.111564

Mathematics Subject Classification ID

Multi-agent systems (93A16) Networked control (93B70) Linear systems in control theory (93C05) Estimation and detection in stochastic control theory (93E10)

Abstract: This paper deals with the distributed state estimation problem under the jointly observable assumption over time-varying network topologies. The results are shown to apply when the system to be observed is unstable. They also apply to situations where the communication networks are disconnected at every instant. They also apply to the usual connected static networks, or, switching networks that are connected at every time, as special cases. We present sufficient conditions for the existence of distributed observers for general linear systems over periodic communication networks. Using an averaging approach, it is shown that the proposed distributed observer can provide exponentially converging state estimates of the state of the linear system when the network is uniformly connected on average. This average connectedness condition offers a more relaxed assumption that includes periodic switching, Markovian switching and switching subject to the Cox process as special cases. All the nodes in the network share the estimated state with their neighbours through the network and cooperatively reconstruct the entire state locally. Furthermore, this study presents two exponential stability results for two classes of switched systems, providing valuable tools for future research in related distributed state estimation fields. A toy example and three practical applications are provided to illustrate the effectiveness of the theoretical results.

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• Completely distributed adaptive observer-based flocking tracking of multiple Euler-Lagrange systems

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