A hybrid observer for estimating the state of a distributed linear system
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Publication:2097797
DOI10.1016/J.AUTOMATICA.2022.110633zbMATH Open1505.93260arXiv2208.02936OpenAlexW4297324035MaRDI QIDQ2097797FDOQ2097797
Authors: Lili Wang, Ji Liu, A. Stephen Morse 
Publication date: 14 November 2022
Published in: Automatica (Search for Journal in Brave)
Abstract: A hybrid observer is described for estimating the state of a system of the form dot x=Ax, y_i=C_ix, i=1,...,m. The system's state x is simultaneously estimated by m agents assuming agent i senses y_i and receives appropriately defined data from its neighbors. Neighbor relations are characterized by a time-varying directed graph N(t). Agent i updates its estimate x_i of x at event times t_{i1},t_{i2} ... using a local continuous-time linear observer and a local parameter estimator which iterates q times during each event time interval [t_{i(s-1)},t_{is}), s>=1, to obtain an estimate of x(t_{is}). Subject to the assumptions that N(t) is strongly connected, and the system is jointly observable, it is possible to design parameters so that x_i converges to x with a pre-assigned rate. This result holds when agents communicate asynchronously with the assumption that N(t) changes slowly. Exponential convergence is also assured if the event time sequence of the agents are slightly different, although only if the system being observed is exponentially stable; this limitation however, is a robustness issue shared by all open loop state estimators with small modeling errors. The result also holds facing abrupt changes in the number of vertices and arcs in the inter-agent communication graph upon which the algorithm depends.
Full work available at URL: https://arxiv.org/abs/2208.02936
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Linear systems in control theory (93C05) Control/observation systems governed by functional relations other than differential equations (such as hybrid and switching systems) (93C30) Estimation and detection in stochastic control theory (93E10) Observers (93B53)
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Cited In (6)
- Designing a completely distributed observer with robustness against disturbances
- Distributed exponential state estimation of linear systems over jointly connected switching networks
- Negativizability: a useful property for distributed state estimation and control in cyber-physical systems
- An algebraic, distributed state observer for continuous- and discrete-time linear time-invariant systems with time-varying communication graphs
- Split-spectrum based distributed state estimation for linear systems
- A distributed reduced-order unknown input observer
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