| Full text | |
| Author(s): |
Rocha, Kaio D. T.
;
Bueno, Jose Nuno A. D.
;
Marcos, Lucas B.
;
Terra, Marco H.
Total Authors: 4
|
| Document type: | Journal article |
| Source: | IFAC PAPERSONLINE; v. 55, n. 34, p. 6-pg., 2022-01-01. |
| Abstract | |
Distributed estimation is a fundamental task performed by sensor networks, often achieved through the Kalman consensus filter. However, it requires exact models, which is seldom possible in practice since parametric uncertainties are usually unavoidable. We address in this paper the robust distributed filtering problem regarding linear discrete-time systems subject to polytopic uncertainties. We consider uncertainties in all parameter matrices of the target system and sensing models. First, we introduce a centralized filter, obtained as the solution to a min-max optimization problem whose cost function collectively weights all the underlying polytope vertices. Then, we derive a fully distributed version of this filter by applying the hybrid consensus on measurements and information approach. The estimators are recursive and do not rely on numerical solvers, appealing features for real-time applications. We validate our approach and assess its performance with a numerical example, comparing it with other robust distributed strategies. Copyright (c) 2022 The Authors. This is an open access article under the CC BY-NC-ND license (https://creativecommons.org/licenses/by-nc-nd/4.0/) (AU) | |
| FAPESP's process: | 14/50851-0 - INCT 2014: National Institute of Science and Technology for Cooperative Autonomous Systems Applied in Security and Environment |
| Grantee: | Marco Henrique Terra |
| Support Opportunities: | Research Projects - Thematic Grants |
| FAPESP's process: | 21/08103-0 - Cooperative autonomous control of heterogeneous vehicle systems |
| Grantee: | Lucas Barbosa Marcos |
| Support Opportunities: | Scholarships in Brazil - Technical Training Program - Technical Training |
| FAPESP's process: | 17/16346-4 - Communication network fault tolerant control for coordinated movement of heterogeneous robots |
| Grantee: | Kaio Douglas Teófilo Rocha |
| Support Opportunities: | Scholarships in Brazil - Doctorate (Direct) |