Variance-Constrained Filter Design With Sensor Resolution Under Round-Robin Communication Protocol: An Outlier-Resistant Mechanism

Abstract

In this article, a new outlier-resistant mechanism is proposed to deal with the variance-constrained filtering problem for a class of networked systems subject to sensor resolution under the round-robin protocol (RRP). Sensor resolution, which serves as an important index in determining measurement accuracy, is taken into account in the addressed filtering problem, and the sensor-resolution-induced uncertainty is tackled by using an upper-bounding technique. The RRP is employed to regulate the order of signal transmission in order to relieve communication overhead. In the case of measurement outliers, a tailored saturation function is dedicatedly introduced to the filter structure for the purpose of suppressing the outlier-corrupted innovations, thereby maintaining satisfactory filtering performance. By solving a matrix difference equation, an upper bound is first acquired on the error covariance of the devised filter, and the associated filter parameters are subsequently determined through minimizing the acquired bound. The validity of the developed variance-constrained filter design approach is thoroughly demonstrated via two simulation examples.