ORIHUELA ESPINA, DIEGO LUIS, MILLÁN GATA, PABLO, Roshany-Yamchi, Samira , Garcia, Ramon A.
No
Automatica
Article
Científica
6.355
01/01/2018
000423002400011
2-s2.0-85032853995
This paper proposes a guaranteed distributed estimator for large-scale, state-coupled plants. Each agent must find appropriate sets, described by zonotopes, to contain the actual state of the plant and reduce the estimation uncertainties. To do so, the agents collaborate by sending information through a network in which bandwidth restrictions need to be taken into account. An estimation algorithm is proposed, where the amount of information transmitted is negotiated through an iterative procedure that trades off communication burden and estimation performance. The negotiation process between the agents is similar to a non-cooperative game, which ends when the Nash equilibrium is reached. The algorithm can be tuned to weight estimation performance, communication costs, and discrepancies in the amount of information transmitted by neighboring agents. The estimation structure is tested by simulation on a plant consisting of a set of inverted pendulums coupled by springs. (C) 2017 Elsevier Ltd. All rights reserved.
Distributed set-membership estimation; Large-scale plants; Negotiation; Nash games; Constrained communication