| Texto completo | |
| Autor(es): |
Rocha, Kaio D. T.
;
Bueno, Jose Nuno A. D.
;
Marcos, Lucas B.
;
Terra, Marco H.
Número total de Autores: 4
|
| Tipo de documento: | Artigo Científico |
| Fonte: | IFAC PAPERSONLINE; v. 55, n. 34, p. 6-pg., 2022-01-01. |
| Resumo | |
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) | |
| Processo FAPESP: | 14/50851-0 - INCT 2014: Instituto Nacional de Ciência e Tecnologia para Sistemas Autônomos Cooperativos Aplicados em Segurança e Meio Ambiente |
| Beneficiário: | Marco Henrique Terra |
| Modalidade de apoio: | Auxílio à Pesquisa - Temático |
| Processo FAPESP: | 21/08103-0 - Controle de sistemas veiculares heterogêneos autônomos e cooperativos |
| Beneficiário: | Lucas Barbosa Marcos |
| Modalidade de apoio: | Bolsas no Brasil - Programa Capacitação - Treinamento Técnico |
| Processo FAPESP: | 17/16346-4 - Controle tolerante a falhas de rede de comunicação para o movimento coordenado de robôs heterogêneos |
| Beneficiário: | Kaio Douglas Teófilo Rocha |
| Modalidade de apoio: | Bolsas no Brasil - Doutorado Direto |