Distributed bounded-error state estimation based on practical robust positive invariance

DOI10.1080/00207179.2015.1040844MaRDI QIDQ2799265zbMATH OpenOpenAlexFDO

Authors Stefano Riverso, Daria Rubini, Giancarlo Ferrari-Trecate

Publication date 8 April 2016

Published in International Journal of Control (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/1311.4306

zbMATH Keywords

bounded error estimationdistributed state estimationrobust positive invariant sets

Mathematics Subject Classification ID

Linear systems in control theory (93C05) Discrete-time control/observation systems (93C55) Perturbations in control/observation systems (93C73) Estimation and detection in stochastic control theory (93E10)

Abstract: We propose a partition-based state estimator for linear discrete-time systems composed by coupled subsystems affected by bounded disturbances. The architecture is distributed in the sense that each subsystem is equipped with a local state estimator that exploits suitable pieces of information from parent subsystems. Moreover, differently from methods based on moving horizon estimation, our approach does not require the on-line solution to optimization problems. Our state-estimation scheme, that is based on the notion of practical robust positive invariance developed in Rakovic 2011, also guarantees satisfaction of constraints on local estimation errors and it can be updated with a limited computational effort when subsystems are added or removed.

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Cites work

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Cited in

(7)

• Distributed set-membership observers for interconnected multi-rate systems
• A distributed set-membership estimator for linear systems with reduced computational requirements
• Plug-and-play state estimation and application to distributed output-feedback model predictive control
• Negativizability: a useful property for distributed state estimation and control in cyber-physical systems
• Distributed zonotopic estimation for interconnected systems: a fusing overlapping states strategy
• Negotiated distributed estimation with guaranteed performance for bandwidth-limited situations
• Privacy-preserving distributed estimation for interconnected dynamic systems

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