Completely Decentralized Design of Distributed Observer for Linear Systems

Kim, Taekyoo; Lee, Chanhwa; Shim, Hyungbo

doi:10.1109/tac.2019.2962360

Cited by 94 publications

(71 citation statements)

References 25 publications

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“…In the sequel, we use ( 16) and ( 15) to determine the optimal agent control profile segments {u a (t) : t ∈ P i j } and {w a (t) : t ∈ P i j }, respectively. This particular decomposition of unicycle agent dynamics is fundamentally similar to that proposed in [19].…”

Section: A Preliminary Resultssupporting

confidence: 53%

Event-Driven Receding Horizon Control of Energy-Aware Dynamic Agents for Distributed Persistent Monitoring

Welikala

Cassandras

2021

2021 60th IEEE Conference on Decision and Control (CDC)

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This paper addresses the persistent monitoring problem defined on a network where a set of nodes (targets) needs to be monitored by a team of dynamic energy-aware agents. The objective is to control the agents' motion to jointly optimize the overall agent energy consumption and a measure of overall node state uncertainty, evaluated over a finite period of interest. To achieve these objectives, we extend an established event-driven Receding Horizon Control (RHC) solution by adding an optimal controller to account for agent motion dynamics and associated energy consumption. The resulting RHC solution is computationally efficient, distributed and on-line. Finally, numerical results are provided highlighting improvements compared to an existing RHC solution that uses energy-agnostic first-order agents.

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Section: A Preliminary Resultssupporting

confidence: 53%

Event-Driven Receding Horizon Control of Energy-Aware Dynamic Agents for Distributed Persistent Monitoring

Welikala

Cassandras

2021

2021 60th IEEE Conference on Decision and Control (CDC)

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“…The design can be also applied in case of general directed communication graphs which are not necessarily strongly connected, by looking at the strongly connected components, identifying components which have no incoming edges as sources and requiring that the system is jointly observable only for every individual source components as in [1]. In [22] it is shown that the diagonal stability property also holds under these conditions, therefore the conditions of Theorem 1 can be relaxed to this generalized case as well.…”

Section: Proof Consider a Lyapunov Functionmentioning

confidence: 99%

A simple finite-time distributed observer design for linear time-invariant systems

Silm

Efimov

Michiels

et al. 2020

Systems & Control Letters

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A design of a distributed observer is proposed for continuous-time systems with nonlinear observer nodes such that the estimation errors converge in a finite time to zero. By taking advantage of individual observability decompositions, the designs for the locally observable and the unobservable substate are made independent from each other. For the observable substate of each node, standard centralized finite-time observer techniques are applied. To estimate distributively the unobservable substate, the observer nodes employ consensus coupling in a linear term and an additional term embedded in a fractional power. The approach is derived using homogeneity arguments and it leads to a simple design with an LMI that is guaranteed to be feasible under general conditions.

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“…At the same time, a large number of relevant researches began to emerge. Some of them focused on proposing new method for designing distributed observers for LTI system, such as a LMIs method, 31 a linear quadratic approach method, 32 and a completely decentralized method 33 . Other scholars designed different types of distributed observers with different functions from their own unique perspectives including minimum order distributed observers, 34 distributed finite‐time observers, 35 Byzantine‐Resilient distributed observers, 36 distributed observers under switching topology, 27 and distributed observers based on detecting and mitigating the biasing attacks 37 …”

Section: Introductionmentioning

confidence: 99%

Distributed observers design for a class of nonlinear systems to achieve omniscience asymptotically via differential geometry

Wang

et al. 2021

Intl J Robust & Nonlinear

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Distributed observers are the framework of fusing observed data by constructing a cooperative observer network. This article renders a scheme of distributed observers for a class of nonlinear system. With this scheme, each local nonlinear observer in the cooperative network can estimate the whole states of the underlying system by their own output measurements and information obtained from their neighbor via communication network. The proposed distributed observers are constructed with Partial Observable Canonical Form, which is a technology studied in differential geometry. The common observable subspace pruning and the weight matrix with spatial transformation are innovatively developed to solve the problem that each local observer is not in the same space. The sufficient conditions are proposed to guarantee the achievement of asymptotical omniscience of distributed nonlinear observers. Furthermore, our distributed observers can also be applied to linear systems and systems with some zero outputs. In addition, comparing with some existing methods of distributed nonlinear observers, our method admits some unbounded systems. Four simulations including multi‐Wen‐bridge oscillator systems, multi‐manipulators systems, unbounded nonlinear system and a linear system are employed to show the validity of the main result.

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Completely Decentralized Design of Distributed Observer for Linear Systems

Cited by 94 publications

References 25 publications

Event-Driven Receding Horizon Control of Energy-Aware Dynamic Agents for Distributed Persistent Monitoring

Event-Driven Receding Horizon Control of Energy-Aware Dynamic Agents for Distributed Persistent Monitoring

A simple finite-time distributed observer design for linear time-invariant systems

Distributed observers design for a class of nonlinear systems to achieve omniscience asymptotically via differential geometry

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