A design method for distributed luenberger observers

Rego, Francisco; Aguiar, A. Pedro; Pascoal, António; Jones, Colin N.

doi:10.1109/cdc.2017.8264153

Cited by 11 publications

(12 citation statements)

References 26 publications

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“…In order to state our main result concerning the performance of Algorithm 2, we need to recall the following concepts. 9 One can interpretx i,l [k] as node i's prediction of node l's state estimate at time k, based on its current information. 10 In implementing this step, suppose a node l already existing in M i [k] gets retained in M i [k].…”

Section: Performance Guarantees For Algorithmmentioning

confidence: 99%

“…Let us now discuss the case when τ i [k] transitions from ω to some value other than ω (lines [8][9][10][11][12]. At the transition time-step, node i appends those nodes from J i [k] \ M i [k] to M i [k] that have the lowest freshness-indices (see line 9).…”

mentioning

confidence: 99%

“…(21)). 9 Note here that φ i,l [k] is the latest time-step when node i appended node l to M i [k]. Having constructed the quantities…”

mentioning

confidence: 99%

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Finite-Time Distributed State Estimation over Time-Varying Graphs: Exploiting the Age-of-Information

Mitra¹,

Richards

Bagchi³

et al. 2019

2019 American Control Conference (ACC)

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We study the problem of designing a distributed observer for an LTI system over a time-varying communication graph. The limited existing work on this topic imposes various restrictions either on the observation model or on the sequence of communication graphs. In contrast, we propose a single-timescale distributed observer that works under mild assumptions. Specifically, our communication model only requires strongconnectivity to be preserved over non-overlapping, contiguous intervals that are even allowed to grow unbounded over time. We show that under suitable conditions that bound the growth of such intervals, joint observability is sufficient to track the state of any discrete-time LTI system exponentially fast, at any desired rate. In fact, we also establish finite-time convergence based on our approach. Finally, we develop a variant of our algorithm that is provably robust to worst-case adversarial attacks, provided the sequence of graphs is sufficiently connected over time. The key to our approach is the notion of a "freshness-index" that keeps track of the age-of-information being diffused across the network. Such indices enable nodes to reject stale estimates of the state, and, in turn, contribute to stability of the error dynamics.1 Such approaches, referred to as two-time-scale approaches, incur high communication cost, and might hence be prohibitive for real-time applications. arXiv:2001.07006v1 [eess.SY]

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Section: Performance Guarantees For Algorithmmentioning

confidence: 99%

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confidence: 99%

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Finite-Time Distributed State Estimation over Time-Varying Graphs: Exploiting the Age-of-Information

Mitra¹,

Richards

Bagchi³

et al. 2019

2019 American Control Conference (ACC)

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“…However, the design method does not allow tuning of the convergence rate and the distributed design requires a huge amount of information to be exchanged. Furthermore, in [6], a distributed observer whose design can be tackled in a distributed way is presented. Nevertheless, its performance relies on some parameters whose tuning remains unclear.…”

Section: Introductionmentioning

confidence: 99%

Data Fusion Based on Subspace Decomposition for Distributed State Estimation in Multi-Hop Networks

Nozal

Millán

Orihuela

2018

Sensors

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This paper deals with the problem of estimating the distributed states of a plant using a set of interconnected agents. Each of these agents must perform a real-time monitoring of the plant state, counting on the measurements of local plant outputs and on the exchange of information with the rest of the network. These inter-agent communications take place within a multi-hop network. Therefore, the transmitted information suffers a delay that depends on the position of the sender and receiver in a communication graph. Without loss of generality, it is considered that the transmission rate and the plant sampling rate are both identical. The paper presents a novel data-fusion-based observer structure based on subspace decomposition, and addresses two main subproblems: the observer design to stabilize the estimation error, and an optimal observer design to minimize the estimation uncertainties when plant disturbances and measurements noises come into play. The performance of the proposed design is tested in simulation.

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“…Here, we have suppressed the dependence of the indices np on i, j and k for clarity of exposition 8. In words, from each end, node i keeps rejecting estimates until it encounters a node with color different from that of the node with the most extreme estimate on that end.…”

mentioning

confidence: 99%

On the Impact of Trusted Nodes in Resilient Distributed State Estimation of LTI Systems

Mitra

Abbas

Sundaram

2018

2018 IEEE Conference on Decision and Control (CDC)

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We address the problem of distributed state estimation of a linear dynamical process in an attack-prone environment. Recent attempts to solve this problem impose stringent redundancy requirements on the measurement and communication resources of the network. In this paper, we take a step towards alleviating such strict requirements by exploring two complementary directions: (i) making a small subset of the nodes immune to attacks, or "trusted", and (ii) incorporating diversity into the network. We define graph-theoretic constructs that formally capture the notions of redundancy, diversity, and trust. Based on these constructs, we develop a resilient estimation algorithm and demonstrate that even relatively sparse networks that either exhibit node-diversity, or contain a small subset of trusted nodes, can be just as resilient to adversarial attacks as more dense networks. Finally, given a finite budget for network design, we focus on characterizing the complexity of (i) selecting a set of trusted nodes, and (ii) allocating diversity, so as to achieve a desired level of robustness. We establish that, unfortunately, each of these problems is NP-complete. arXiv:2001.07056v1 [eess.SY]

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A design method for distributed luenberger observers

Cited by 11 publications

References 26 publications

Finite-Time Distributed State Estimation over Time-Varying Graphs: Exploiting the Age-of-Information

Finite-Time Distributed State Estimation over Time-Varying Graphs: Exploiting the Age-of-Information

Data Fusion Based on Subspace Decomposition for Distributed State Estimation in Multi-Hop Networks

On the Impact of Trusted Nodes in Resilient Distributed State Estimation of LTI Systems

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