论文标题
用于估计分布式线性系统状态的混合观察者
A Hybrid Observer for Estimating the State of a Distributed Linear System
论文作者
论文摘要
描述了一个混合观察者，用于估计形式x = ax的系统的状态，y_i = c_ix，i = 1，...，m。假设代理I感应y_i并从其邻居接收适当定义的数据，则该系统的状态X同时估算了M代理。邻居关系的特征是随时间变化的定向图N（t）。代理I在事件时间t_ {i1}，t_ {i2} ...中更新X的估计值x_i ...使用本地连续的时间线性观察者和局部参数估计器，该局部参数估计器在每个事件时间间隔[t_ {i（s-s-1）}，t_ {is}），t_ {is}），s> = 1，s> = 1，est e eSt est est est est e est e est e est e est e estimate q time q evers。遵守n（t）紧密连接的假设，并且可以共同观察到系统，因此可以设计参数，以便X_I以预分配的速率收敛到X。当代理与n（t）变化缓慢变化的假设异步交流时，该结果就会成立。如果试剂的事件时间序列略有不同，则指数收敛也可以确保，尽管只有观察到的系统呈指数稳定；但是，这种限制是所有带有小型建模错误的开放环状态估计器共有的鲁棒性问题。结果还使算法所依赖的代理通信图中的顶点和弧的数量突然变化。
A hybrid observer is described for estimating the state of a system of the form dot x=Ax, y_i=C_ix, i=1,...,m. The system's state x is simultaneously estimated by m agents assuming agent i senses y_i and receives appropriately defined data from its neighbors. Neighbor relations are characterized by a time-varying directed graph N(t). Agent i updates its estimate x_i of x at event times t_{i1},t_{i2} ... using a local continuous-time linear observer and a local parameter estimator which iterates q times during each event time interval [t_{i(s-1)},t_{is}), s>=1, to obtain an estimate of x(t_{is}). Subject to the assumptions that N(t) is strongly connected, and the system is jointly observable, it is possible to design parameters so that x_i converges to x with a pre-assigned rate. This result holds when agents communicate asynchronously with the assumption that N(t) changes slowly. Exponential convergence is also assured if the event time sequence of the agents are slightly different, although only if the system being observed is exponentially stable; this limitation however, is a robustness issue shared by all open loop state estimators with small modeling errors. The result also holds facing abrupt changes in the number of vertices and arcs in the inter-agent communication graph upon which the algorithm depends.
