Non-fragile cubature Kalman filtering under innovation-based weighted try-once-discard protocol with channel noise

Abstract

In this paper, the problem of non-fragile cubature Kalman filtering is addressed for nonlinear systems with stochastic uncertainties under innovation-based weighted try-once-discard protocol (WTODP) affected by channel noise. To reduce transmission burden and improve communication efficiency, the innovation-based WTODP, which is constructed by a set of quadratic functions regarding innovation, is employed in the network channel between the sensor and the filter to regulate the transmission of data signals. Meanwhile, Gaussian-distributed channel noise is taken into account during the signal propagation process to provide a better representation of the network media. An upper bound of the filtering error covariance (FEC) is derived by solving certain matrix difference equations, and the minimization of the obtained upper bound is achieved through the design of an appropriate filter gain. Furthermore, the uniform boundedness of the FEC's upper bound is investigated using the matrix theory to evaluate the performance of the filtering scheme. The effectiveness and superiority of the proposed non-fragile cubature Kalman filtering algorithm are demonstrated through two simulation experiments with comparisons.