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

Decentralized observers with consensus filters for distributed discrete-time linear systems

  • Author(s): Açikmeşe, B
  • Mandić, M
  • Speyer, JL
  • et al.

This paper presents a decentralized observer with a consensus filter for the state observation of discrete-time linear distributed systems. Each agent in the distributed system has an observer with a model of the plant that utilizes the set of locally available measurements, which may not make the full plant state detectable. This lack of detectability is overcome by utilizing a consensus filter that blends the state estimate of each agent with its neighbors' estimates. It is proven that the state estimates of the proposed observer exponentially converge to the actual plant states under arbitrarily changing, but connected, communication and pseudo-connected sensing graph topologies. Except these connectivity properties, full knowledge of the sensing and communication graphs is not needed at the design time. As a byproduct, we obtained a result on the location of eigenvalues, i.e.; the spectrum, of the Laplacian for a family of graphs with self-loops. © 2014 Elsevier Ltd. All rights reserved.

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
Current View