On the Design of Distributed Observers for Nonlinear Systems
On the Design of Distributed Observers for Nonlinear Systems
复制标题
非线性系统分布式观测器的设计
DOI：
10.1109/tac.2021.3103864
复制
发表时间：
2021
影响因子：
6.8
通讯作者：
Renquan Lu
中科院分区：
文献类型：
--
作者：
Yuanqing Wu;A. Isidori;Renquan Lu
本文研究一类非线性动力系统的分布式状态估计问题。依赖于块三角形的“一致可观性”的标准形式的存在的假设，本地高增益观测器被用来稳定的状态的可观测部分的估计误差，和邻居之间的信息交换被用来实现共识的状态估计的不可观测部分。本文地址，首先，一个自治系统的情况下，然后，一个受控的动力系统的情况下，假设外源输入是可访问的网络中的每个节点。基于所设计的状态估计器，每个分布式传感器节点可以实现渐近估计的全部状态，以任意固定的衰减率的观测误差。
In this article, we investigate the distributed state estimation problem for a nonlinear dynamical system. Relying upon the assumption of the existence of a block-triangular “uniform observability” canonical form, local high-gain observers are used to stabilize the estimation error for the observable portion of the state, and exchange of information between neighbors is used to achieve consensus in the estimation of the state of the unobservable part. This article addresses, first, the case of an autonomous system and, then, the case of a controlled dynamical system under the assumption that the exogenous input is accessible by each node in the network. Based on the designed state estimator, each distributed sensor node can achieve asymptotic estimation of the full state, with an arbitrarily fixed decay rate of the observation error.