Skip to main content
eScholarship
Open Access Publications from the University of California

UC Santa Cruz

UC Santa Cruz Previously Published Works bannerUC Santa Cruz

A Decentralized Consensus Algorithm for Distributed State Observers with Robustness Guarantees

Abstract

Motivated by the design of distributed observers with good performance and robustness to measurement and communication noise, the problem of obtaining a global estimate, over a graph, of a common process is considered. We propose a global consensus algorithm that satisfies a pre-specified rate of convergence and has optimized robustness to both communication and measurement noise. The convergence rate and the robustness to communication and measurement noise of the proposed consensus algorithm are characterized in terms of (nonlinear and linear) optimization problems. The stability and robustness properties of the proposed algorithm are shown analytically and validated numerically.

Many UC-authored scholarly publications are freely available on this site because of the UC's open access policies. Let us know how this access is important for you.

Main Content
For improved accessibility of PDF content, download the file to your device.
Current View