A hybrid observer for a distributed linear system with a changing neighbor graph
A hybrid observer for a distributed linear system with a changing neighbor graph
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具有变化邻域图的分布式线性系统的混合观测器
DOI：
10.1109/cdc.2017.8263792
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发表时间：
2017
期刊：
影响因子：
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通讯作者：
Jun Liu
中科院分区：
文献类型：
--
作者：
Lili Wang;A. Morse;D. Fullmer;Jun Liu
描述了一种用于估计m > 0通道、n维、连续时间、形式为x = Ax，yi =<inf>Cx</inf>，i <${1，2，.，m}的线性系统的状态的混合观测器。<inf></inf>系统的状态x由m个代理同时估计，假设每个代理i感测yi并从其当前邻居中的每一个接收适当定义的数据。邻居关系由时变有向图N（t）表征，其顶点对应于代理，其弧描绘邻居关系。代理i使用局部连续时间线性观测器和局部参数估计器在“事件时间”ti，<inf>t2</inf>，.更新其x<inf>的估计xi，</inf>对于每个j ≥ 1，在时间间隔[tj<inf>-1</inf>，tj）内迭代q次以获得x（tj）的估计。<inf></inf>假设所有的C<inf>i都不</inf>为零，邻居图N（t）是强连通的，并且其状态被估计的系统是联合可观测的，证明了对于任何数λ > 0，可以选择q和局部观测器增益，使得每个估计x<inf>i</inf>收敛到x的速度与e<sup>−λt</sup>收敛到零的速度一样快。
A hybrid observer is described for estimating the state of an m > 0 channel, n-dimensional, continuous-time, linear system of the form x = Ax, y<inf>i</inf> = C<inf>ix</inf>, i ∊ {1, 2,…, m}. The system's state x is simultaneously estimated by m agents assuming each agent i senses yi and receives appropriately defined data from each of its current neighbors. Neighbor relations are characterized by a time-varying directed graph N(t) whose vertices correspond to agents and whose arcs depict neighbor relations. Agent i updates its estimate x<inf>i</inf> of x at “event times” t<inf>i</inf>, t<inf>2</inf>,… using a local continuous-time linear observer and a local parameter estimator which for each j ≥ 1, iterates q times during the time interval [tj<inf>−1</inf>, tj) to obtain an estimate of x(tj). Subject to the assumptions that none of the C<inf>i</inf> are zero, the neighbor graph N(t) is strongly connected for all time, and the system whose state is to be estimated is jointly observable, it is shown that for any number λ > 0 it is possible to choose q and the local observer gains so that each estimate x<inf>i</inf> converges to x as fast as e<sup>−λt</sup> converges to zero.