On the Design of Distributed Observers for Nonlinear Systems

• 成果类型: Article
• 署名作者: Wu, Yuanqing; Isidori, Alberto; Lu, Renquan
• 署名单位: Guangdong University of Technology; Sapienza University Rome
• 刊物名称: IEEE TRANSACTIONS ON AUTOMATIC CONTROL
• ISSN/ISSBN: 0018-9286
• DOI: 10.1109/TAC.2021.3103864
• 发表日期: 2022
• 页码: 3229-3242
• 关键词: Observers; Mathematical model; estimation; observability; Autonomous systems; information exchange; Eigenvalues and eigenfunctions; consensus; Distributed state estimation; high gain; nonlinear observers; Nonlinear systems

摘要

In this article, we investigate the distributed state estimation problem for a nonlinear dynamical system. Relying upon the assumption of the existence of a block-triangular uniform observability canonical form, local high-gain observers are used to stabilize the estimation error for the observable portion of the state, and exchange of information between neighbors is used to achieve consensus in the estimation of the state of the unobservable part. This article addresses, first, the case of an autonomous system and, then, the case of a controlled dynamical system under the assumption that the exogenous input is accessible by each node in the network. Based on the designed state estimator, each distributed sensor node can achieve asymptotic estimation of the full state, with an arbitrarily fixed decay rate of the observation error.