Consensus Based Overlapping Decentralized Estimator

In this technical note a new algorithm for state estimation is proposed in the form of a multi-agent network based on a synergy between local Kalman filters and a dynamic consensus strategy between the agents. It is shown that it is possible, under general conditions concerning local resources and t...

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Bibliographic Details
Published in:IEEE transactions on automatic control 2009-02, Vol.54 (2), p.410-415
Main Authors: Stankovic, S.S., Stankovic, M.S., Stipanovic, D.M.
Format: Article
Language:English
Subjects:
Algorithms
Applied sciences
Asymptotic properties
Asymptotic stability
Computer science
control theory
systems
Consensus strategy
Control theory. Systems
decentralized estimation
Estimation error
Estimators
Exact sciences and technology
Gain
Intelligent agent
Modelling and identification
multi-agent systems
Multiagent systems
Network topology
Networks
Noise measurement
Noise reduction
optimization
overlapping decompositions
Sensor systems
Stability
Stability analysis
State estimation
Strategy
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Summary:In this technical note a new algorithm for state estimation is proposed in the form of a multi-agent network based on a synergy between local Kalman filters and a dynamic consensus strategy between the agents. It is shown that it is possible, under general conditions concerning local resources and the network topology, to achieve asymptotic stability of the whole estimation algorithm by a proper choice of the consensus gains. It is demonstrated that the consensus gains can be obtained by minimizing the total mean-square estimation error. Capabilities of the network to achieve reduction of the measurement noise influence are also discussed.
ISSN:0018-9286
1558-2523
DOI:10.1109/TAC.2008.2009583