Distributed Observers With Time-Varying Delays

• 成果类型: Article
• 署名作者: Silm, Haik; Ushirobira, Rosane; Efimov, Denis; Fridman, Emilia; Richard, Jean-Pierre; Michiels, Wim
• 署名单位: KU Leuven; Inria; Universite de Lille; Centre National de la Recherche Scientifique (CNRS); ITMO University; Tel Aviv University
• 刊物名称: IEEE TRANSACTIONS ON AUTOMATIC CONTROL
• ISSN/ISSBN: 0018-9286
• DOI: 10.1109/TAC.2020.3044271
• 发表日期: 2021
• 页码: 5354-5361
• 关键词: Observers; DELAYS; CONVERGENCE; estimation; Time-varying systems; Synchronization; STANDARDS; Distributed estimation problem; networked control systems; time-varying delay

摘要

The distributed estimation problem is solved for continuous-time observer nodes that obtain real-time measurements but communicate with their neighbors over a communication network. To this end, the digital communication between the observer nodes is modeled by the time-delay approach where variable sampling intervals, transmission delays, and packet dropouts are taken into account. An LMI for the design of the observer gains is derived using Halanay's inequality, the feasibility of which guarantees exponential stability with a selected convergence rate up to a maximum total delay. A comparison of the maximal delay on a numerical example shows the advantage of a distributed observer over a centralized one.