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Decentralized Observer with a Consensus Filter for Distributed Discrete-Time Linear SystemsThis 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.
Document ID
20120004199
Acquisition Source
Jet Propulsion Laboratory
Document Type
Conference Paper
External Source(s)
Authors
Acikmese, Behcet
(Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Mandic, Milan
(California Univ. Los Angeles, CA, United States)
Date Acquired
August 25, 2013
Publication Date
June 29, 2011
Subject Category
Mathematical And Computer Sciences (General)
Meeting Information
Meeting: IFAC, American Control Conference
Location: San Francisco, CA
Country: United States
Start Date: June 29, 2011
Sponsors: International Federation of Automatic Control
Distribution Limits
Public
Copyright
Other
Keywords
embedded consensus
Decentralized estimation
communication topologies
time-varying sensing

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