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Distributed Kalman filtering in presence of unknown outer network actuations

Talebi, Sayed Pouria; Werner, Stefan
Journal article, Peer reviewed
Accepted version
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Distributed+Kalman+Filtering+in+Presence+of+Unknown+Outer+Network+Actuations.pdf (336.3Kb)
Permanent lenke
http://hdl.handle.net/11250/2586796
Utgivelsesdato
2019
Metadata
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  • Institutt for elektroniske systemer [1575]
  • Publikasjoner fra CRIStin - NTNU [21915]
Originalversjon
IEEE Control Systems Letters. 2019, 3 186-191.   10.1109/LCSYS.2018.2868893
Sammendrag
This letter presents a fully distributed approach for tracking state vector sequences over sensor networks in presence of unknown actuations. The problem arises in large-scale systems where modeling the full dynamics becomes impractical. In this letter, the network only considers a subsection of the overall system which it can detect while accounting other inputs as unknown actuations. First a centralized technique that can consolidate all the available observation information is introduced. Then, operations of this optimal centralized solution are decomposed in a manner to allow their implementation in a distributed fashion while allowing each agent to retain an estimate of both the state vector and unknown actuations. The filter is derived in both diffusion and consensus formulations. The diffusion formulation is intended as a cost-effective solution, while the consensus formulation trades implementation complexity for accuracy.
Utgiver
IEEE
Tidsskrift
IEEE Control Systems Letters

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