Distributed estimation for nonlinear systems

doi:10.1016/j.automatica.2019.06.024

Return

Distributed estimation for nonlinear systems

2019-09-01

Stefano Battilotti *

Matteo Mekhail

DOI：10.1016/j.automatica.2019.06.024

Original

Save

View PDF

Abstract

En 中文

In a classical distributed framework, we present a novel distributed observer for genuinely nonlinear continuous-time plants. A network of sensors monitors a multiple-outputs plant. Each sensor measures only a portion of the plant's outputs, and the sensing capability is different from sensor to sensor. The assumption of strongly connected digraph on the underlying sensor network ensures robustness and direct communication paths between nodes. Moreover, incremental homogeneity assumptions on the plant embrace a very large class of nonlinear systems for which a distributed observer can be designed. The distributed observer consists of local observers associated with each sensor, asymptotically estimating the entire state of the plant only by using the local sensing capability and information exchanged through the communication network. Numerical simulations on a network of interconnected Van Der Pol oscillators confirms theoretical results. Robustness and switching topologies are also discussed, and suitable modifications of the distributed observer are proposed. (C) 2019 Elsevier Ltd. All rights reserved.

Keywords:

Directed graphs

Omniscience

Distributed estimation

Nonlinear systems

AI Summary

Key information extracted from the uploaded paper, including a brief overview, abstract, background, key highlights, visual analysis, and future outlook.