Abstract
The paper investigates the state estimation problem of general continuous-time linear systems with the consideration of time-varying communication delay. A solution is proposed in terms of the networked distributed observer, which consists of multiple local observers. Each local observer relies on only part of the system output and exchanges information with neighbors through undirected links modeled by a prespecified communication graph. A simple approach for computing observer parameters is presented by solving a parametric algebraic Riccati equation. Furthermore, by the Lyapunov–Krasovskii stability theorem, an upper bound of the delay could be calculated explicitly and together with the conditions of joint observability and connectivity of the communication graph; the resulting distributed observers work coordinately to achieve an asymptotic estimate of the full plant state. An illustrative example is provided to confirm the analytical results.
Highlights
State estimation or reconstruction is one of the most essential problems in control science and technology
A key feature of networked distributed observers is that each local observer rely on only its local measured outputs and cooperates with its neighboring observers to estimate the full plant states. is feature can be helpful in formational control of vehicles, autonomous underwater vehicles (AUVs), and spacecrafts [19,20,21]
We have dealt with the state estimation problem of general continuous-time linear systems, which is solved by the distributed Luenberger observer technique. e structure of the proposed distributed observers comprises networked local observers, in which observers are constructed locally based on its own output measurement and its neighbors according to a given connected communication graph
Summary
State estimation or reconstruction is one of the most essential problems in control science and technology. The distributed observer schemes proposed by the abovementioned works considered ideal interconnection networks without communication time delay among local observers. There are few works on networked distributed observer design for continuous-time linear systems with the consideration communication delays. E lack of considering time-varying communication delay and the restriction on the system matrix motivate us to develop a novel distributed observer algorithm for general continuoustime linear systems by assuming the following. Erefore, the local observers in this paper are deployed to estimate linear plants with general poles under time-varying communication delay. By applying the Lyapunov–Krasovskii theorem, we derive the process of computing coupling gains for the information exchange among local observers and the upper bound of the time-varying delay, under which distributed observers achieve omniscience eventually. All matrices are assumed to be compatible in this paper
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