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Design of tracking observers for locally jointly observable systems
DaboXu,XinghuWang,YiguangHong
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(School of Automation, Nanjing University of Science and Technology, Nanjing, 210094, Jiangsu, China;Department of Automation, University of Science and Technology of China, Hefei, 230027, Anhui, China;Key Laboratory of Systems and Control, Chinese Academy of Sciences, Beijing, 100190, China)
摘要:
This paper considers distributed state estimation of continuous-time linear system monitored by a network of multiple sensors. Each sensor can only access locally partial measurement output of the system and effectively communicates with its neighbors to cooperatively achieve the asymptotic estimation of the target full system state. For a constructive design, we shall incorporate the concept of system immersions and propose a class of distributed tracking observers for the problem under a reasonable condition of the locally joint observability. Moreover, as a direct application of the proposed observer design, we further present an interesting leader-following consensus design for multi-agent system.
关键词:  Observer · Estimation · Distributed control · Immersion · Invariance · Consensus
DOI:https://doi.org/10.1007/s11768-020-00019-7
基金项目:This work was supported in part by the National Natural Science Foundation of China (Nos. 61673216, 61873250, 61733018) and in part by USTC Research Funds of the Double First-Class Initiative (No. YD2100002002).
Design of tracking observers for locally jointly observable systems
Dabo Xu,Xinghu Wang,Yiguang Hong
(School of Automation, Nanjing University of Science and Technology, Nanjing, 210094, Jiangsu, China;Department of Automation, University of Science and Technology of China, Hefei, 230027, Anhui, China;Key Laboratory of Systems and Control, Chinese Academy of Sciences, Beijing, 100190, China)
Abstract:
This paper considers distributed state estimation of continuous-time linear system monitored by a network of multiple sensors. Each sensor can only access locally partial measurement output of the system and effectively communicates with its neighbors to cooperatively achieve the asymptotic estimation of the target full system state. For a constructive design, we shall incorporate the concept of system immersions and propose a class of distributed tracking observers for the problem under a reasonable condition of the locally joint observability. Moreover, as a direct application of the proposed observer design, we further present an interesting leader-following consensus design for multi-agent system.
Key words:  Observer · Estimation · Distributed control · Immersion · Invariance · Consensus