Title Distributed consensus-based Kalman filtering considering subspace decomposition
Authors RODRÍGUEZ DEL NOZAL, ÁLVARO, ORIHUELA ESPINA, DIEGO LUIS, MILLÁN GATA, PABLO
External publication No
Means IFAC-PapersOnLine
Scope Proceedings Paper
Nature Científica
SJR Quartile 3
SJR Impact 0.26
Web https://www.scopus.com/inward/record.uri?eid=2-s2.0-85031814875&doi=10.1016%2fj.ifacol.2017.08.443&partnerID=40&md5=f0b2c66f6219f34a03aa055f7f84f411
Publication date 01/01/2017
ISI 000423845200402
Scopus Id 2-s2.0-85031814875
DOI 10.10164/j.ifaco1.2017.08.443
Abstract The aim of this paper is to provide a new observer structure able to deal with the distributed estimation of a discrete-time linear system from a network of agents. The main result is an innovative consensus-based structure that decompose the state in the observable and unobservable subspace of the agent using the observability staircase form. The paper proposes a design in which Kalman-like gains are synthetized to minimize the variance of the error on both subspaces. Finally some simulations are shown to compare the proposed estimator with centralized Kalman filter and other distributed schemes found in literture. (C) 2017, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.
Keywords Estimation and filtering; Distributed control and estimation; Sensor networks
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