RODRÍGUEZ DEL NOZAL, ÁLVARO, ORIHUELA ESPINA, DIEGO LUIS, MILLÁN GATA, PABLO, Seuret A. , Zaccarian L.
No
IFAC-PapersOnLine
Conference Paper
Científica
0.308
01/01/2020
000652592500524
2-s2.0-85105079308
We address distributed estimation of the state of a linear plant by a set of agents. The problem is cast in a setting where the communication capabilities of an agent might be deactivated from time to time, due to failures in the communication devices or malicious attacks. An observer architecture is proposed to achieve our estimation goal, based on a multi-hop subspace decomposition. Uniform exponential convergence to zero of the estimation errors is proven in the presence of communication failures, under a persistence of excitation assumption. Finally, the observer performance is evaluated in simulation, showing the merits of the proposed method and suggesting directions for future developments. Copyright © 2020 The Authors. This is an open access article under the CC BY-NC-ND license
Distributed estimation; Linear time-invariant systems; Link failures; Multi-agent systems; Switching topologies