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EnglishIn this paper we consider a nonlinear constrained system observed by a sensor network and propose a distributed state estimation scheme based on moving horizon estimation (MHE). In order to embrace the case where the whole system state cannot be reconstructed from data available to individual sensors, we resort to the notion of MHE detectability for nonlinear systems, and add to the MHE problems solved by each sensor a consensus term for propagating information about estimates through the network. We characterize the error dynamics and provide conditions on the local exchanges of information in order to guarantee convergence to zero and stability of the state estimation error provided by any sensor.
Distributed moving horizon estimation for nonlinear constrained systems / Farina Marcello; Ferrari Trecate Giancarlo; Scattolini Riccardo. - In: INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL. - ISSN 1049-8923. - STAMPA. - 22:2(2012), pp. 123-143.
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| Titolo: | Distributed moving horizon estimation for nonlinear constrained systems | |
| Autori: | ||
| Data di pubblicazione: | 2012 | |
| Rivista: | ||
| Citazione: | Distributed moving horizon estimation for nonlinear constrained systems / Farina Marcello; Ferrari Trecate Giancarlo; Scattolini Riccardo. - In: INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL. - ISSN 1049-8923. - STAMPA. - 22:2(2012), pp. 123-143. | |
| Abstract: | In this paper we consider a nonlinear constrained system observed by a sensor network and propose a distributed state estimation scheme based on moving horizon estimation (MHE). In order to embrace the case where the whole system state cannot be reconstructed from data available to individual sensors, we resort to the notion of MHE detectability for nonlinear systems, and add to the MHE problems solved by each sensor a consensus term for propagating information about estimates through the network. We characterize the error dynamics and provide conditions on the local exchanges of information in order to guarantee convergence to zero and stability of the state estimation error provided by any sensor. | |
| Handle: | http://hdl.handle.net/11571/385307 | |
| Appare nelle tipologie: | 1.1 Articolo in rivista |
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