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Distributed Kalman Filtering for Interconnected Dynamic Systems
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DOI：10.1109/TCYB.2021.3072198.png)
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Abstract
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This article is concerned with the distributed Kalman filtering problem for interconnected dynamic systems, where the local estimator of each subsystem is designed only by its own information and neighboring information. A decoupling strategy is developed to minimize the impact of interconnected terms on the estimation performance, and then the recursive and distributed Kalman filter is derived in the minimum mean-squared error sense. Moreover, by using Lyapunov criterion for linear time-varying systems, stability conditions are presented such that the designed estimator is bounded. Finally, a heavy duty vehicle platoon system is employed to show the effectiveness and advantages of the proposed methods.
Keywords:
Estimation
Kalman filters
Interconnected systems
Dynamical systems
Directed graphs
Couplings
Symmetric matrices
Decoupling strategy
distributed Kalman filtering
interconnected dynamic systems (IDSs)
stability analysis
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