Robust Distributed Consensus-Based Filtering for Uncertain Systems over Sensor Networks

Robust distributed filtering for sensor networks under parametric uncertainties

“…Hence, the works above are not fully distributed strategies since they require network-wide information. In contrast, Duan et al (2020) and Rocha and Terra (2020) proposed fully distributed robust recursive filters. While the former only considers norm-bounded uncertainties in the target system model, the latter also treats uncertainties in the sensing models.…”

“…To establish a baseline, we also apply the nominal centralized and distributed filters presented in Section 4.1, respectively CKF (Algorithm 4.1) and DKCF (Algorithm 4.2). In addition, we also compare the RDKCF with other robust distributed estimators from the literature, namely the recursive filters proposed in Rocha and Terra (2020) and Duan et al (2020), as well as the H ∞ -consensus filter presented by Shen, Wang and Hung (2010).…”

“…Moreover, they closely follow the RCKF, fulfilling their goal. Next, we have the robust distributed filters proposed by Rocha and Terra (2020) and Duan et al (2020), which present a similar performance. The former considers uncertainties in all parameter matrices and performs a single consensus on information step, whereas the latter only assumes uncertainties in matrix F k and does not use the consensus protocol.…”