Design of distributed decentralized estimators for formations with fixed and stochastic communication topologies

Authors:
Maksim V. Subbotin;Roy S. Smith
Affiliations:
LaunchPoint Technologies, Inc., 5735 Hollister Avenue, Suite B, Goleta, CA 93117, USA;Department of Electrical and Computer Engineering, University of California, Santa Barbara, CA 93106-9560, USA
Venue:
Automatica (Journal of IFAC)
Year:
2009

Citing 3
Cited 3

A Newton-like method for solving rank constrained linear matrix inequalities

Automatica (Journal of IFAC)
Technical communique: Fixed modes in multivariable systems using constrained controllers

Automatica (Journal of IFAC)
Brief The H2-control for jump linear systems: cluster observations of the Markov state

Automatica (Journal of IFAC)

Distributed robust filtering with H∞ consensus of estimates

Automatica (Journal of IFAC)
Technical communique: A linear distributed filter inspired by the Markovian jump linear system filtering problem

Automatica (Journal of IFAC)
Distributed robust estimation over randomly switching networks using H ∞ consensus

Automatica (Journal of IFAC)

Quantified Score

Hi-index	22.15

Visualization

Abstract

This paper proposes a solution to the problem of synthesizing distributed decentralized estimators for a formation of agents. The collected dynamics of the formation are modeled by a discrete LTI system. In the considered estimation structure, each agent of the formation carries an estimate of the entire formation state. Agents of the formation can communicate information between each other through unidirectional links modeled with a fixed or a stochastic communication topology. The design procedures are based on a set of convex optimization problems with linear matrix inequalities and result in the suboptimal choice of estimator gains which stabilize the estimation error dynamics and minimize a norm of the estimation error correlation matrix.