Brief paper: Cross-estimator design for coordinated systems: Constraints, covariance, and communications resource assignment

Authors:
Keunmo Kang;Jun Yan;Robert R. Bitmead
Affiliations:
Department of Mechanical and Aerospace Engineering, University of California, San Diego, 9500 Gilman Drive, La Jolla, CA 92093-0411, USA;Pulp and Paper Center, University of British Columbia, 2385 East Mall, Vancouver, BC V6T 1N4, Canada;Department of Mechanical and Aerospace Engineering, University of California, San Diego, 9500 Gilman Drive, La Jolla, CA 92093-0411, USA
Venue:
Automatica (Journal of IFAC)
Year:
2008

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Abstract

Coordinated systems interact via the exchange of information through communication. As the network of coordinated systems increases in the number of subsystems, natural limits on the available bandwidth of communication need to be imposed. Without this, the coordinated system does not scale properly and the interaction burden becomes unmanageable. Our aim in this paper is to develop estimation techniques for the coordinated systems including the allocation of communication resources. Central ideas involve: interaction via constraints imposed by neighbors, the tightening of these constraints to reflect state uncertainty, and the assignment of communications resources to manage this uncertainty in the estimator design. Linear matrix inequality methods are applied to develop a solution which links control objective, performance, and communication limits.