Conditions for Detectability in Distributed Consensus-Based Observer Networks

Author

Ugrinovskii, V.

Author_Institution

Sch. of Eng. & IT, Univ. of NSW at the Australian Defence Force Acad., Canberra, ACT, Australia

Volume

58

Issue

10

fYear

2013

fDate

Oct. 2013

Firstpage

2659

Lastpage

2664

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);

fLanguage

English

Journal_Title

Automatic Control, IEEE Transactions on

Publisher

ieee

ISSN

0018-9286

Type

jour

DOI

10.1109/TAC.2013.2256675

Filename

6493406