Consensus Based Overlapping Decentralized Estimator

In this technical note a new algorithm for state estimation is proposed in the form of a multi-agent network based on a synergy between local Kalman filters and a dynamic consensus strategy between the agents. It is shown that it is possible, under general conditions concerning local resources and t...

Ausführliche Beschreibung

Gespeichert in:

Bibliographische Detailangaben
Veröffentlicht in:	IEEE transactions on automatic control 2009-02, Vol.54 (2), p.410-415
Hauptverfasser:	Stankovic, S.S., Stankovic, M.S., Stipanovic, D.M.
Format:	Artikel
Sprache:	eng
Schlagworte:	Algorithms Applied sciences Asymptotic properties Asymptotic stability Computer science control theory systems Consensus strategy Control theory. Systems decentralized estimation Estimation error Estimators Exact sciences and technology Gain Intelligent agent Modelling and identification multi-agent systems Multiagent systems Network topology Networks Noise measurement Noise reduction optimization overlapping decompositions Sensor systems Stability Stability analysis State estimation Strategy
Online-Zugang:	Volltext bestellen
Tags:	Tag hinzufügen Keine Tags, Fügen Sie den ersten Tag hinzu!

Beschreibung
Zusammenfassung:	In this technical note a new algorithm for state estimation is proposed in the form of a multi-agent network based on a synergy between local Kalman filters and a dynamic consensus strategy between the agents. It is shown that it is possible, under general conditions concerning local resources and the network topology, to achieve asymptotic stability of the whole estimation algorithm by a proper choice of the consensus gains. It is demonstrated that the consensus gains can be obtained by minimizing the total mean-square estimation error. Capabilities of the network to achieve reduction of the measurement noise influence are also discussed.
ISSN:	0018-9286 1558-2523
DOI:	10.1109/TAC.2008.2009583