Title An asynchronous technique for distributed estimation based on zonotopes
Authors Garcia, R. A. , Rubio, F. R. , Guinaldo, M. , ORIHUELA ESPINA, DIEGO LUIS, MILLÁN GATA, PABLO, IEEE
External publication No
Scope Conference Paper
Nature Científica
Web https://www.scopus.com/inward/record.uri?eid=2-s2.0-84954152453&doi=10.1109%2fEBCCSP.2015.7300686&partnerID=40&md5=878eae1c7a8b81e5ddebbd0e6af1f165
Publication date 01/01/2015
ISI 380448300039
Scopus Id 2-s2.0-84954152453
DOI 10.1109/EBCCSP.2015.7300686
Abstract This paper deals with the problem of guaranteed distributed estimation under an asynchronous communication scheme. The objective is to estimate the state of a perturbed linear plant using a set of agents which communicate using a common network. The agents have access to a limited set of system outputs affected by bounded noises, so collaboration among them is needed. Both measurement noises and disturbances are bounded, but no stochastic distribution is assumed to be known. This work proposes a guaranteed estimator based on the use of zonotopes, which constitutes a useful way to represent the estimated set. The transmissions between agents are event-triggered. A novel triggering rule is presented. It weights, on the one hand, the error with past transmissions, and on the other, the uncertainty of the estimation. Simulation examples illustrate the achieved results.
Keywords Nickel; Stochastic systems; Asynchronous communication; Noise; Observers; Strips; Uncertainty; Signal processing
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