RODRÍGUEZ DEL NOZAL, ÁLVARO, ORIHUELA ESPINA, DIEGO LUIS, MILLÁN GATA, PABLO
No
IFAC-PapersOnLine
Proceedings Paper
Científica
0.26
01/01/2017
000423845200402
2-s2.0-85031814875
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.
Estimation and filtering; Distributed control and estimation; Sensor networks