Title :
Conditions for Detectability in Distributed Consensus-Based Observer Networks
Author_Institution :
Sch. of Eng. & IT, Univ. of NSW at the Australian Defence Force Acad., Canberra, ACT, Australia
Abstract :
This technical note discusses fundamental detectability properties associated with the problem of distributed state estimation using networked observers. The main result of the technical note establishes connections between detectability of the plant through measurements, observability of the node filters through interconnections, and algebraic properties of the underlying communication graph, to ensure the interconnected filtering error dynamics are stabilizable via output injection.
Keywords :
error analysis; filtering theory; network theory (graphs); observability; observers; algebraic property; communication graph; detectability condition; distributed consensus-based observer network; distributed state estimation; interconnected filtering error dynamics; node filter; observability; stabilization; Eigenvalues and eigenfunctions; Observers; Robot kinematics; Simultaneous localization and mapping; Vectors; Consensus; detectability; distributed estimation; linear matrix inequalities (LMIs); simultaneous localization and mapping (SLAM);
Journal_Title :
Automatic Control, IEEE Transactions on
DOI :
10.1109/TAC.2013.2256675
