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distributed observers for linear systems with communication noises over Markovian switching topologies

INTERNATIONAL JOURNAL OF SYSTEMS SCIENCE 2025年第9期56卷 1973-1985页

作者： Chen, Kairui Liu, Minyi Zhu, Zhangmou Wang, Junwei Guangzhou Univ Sch Mech & Elect Engn Guangzhou Peoples R China Guangdong Univ Foreign Studies Sch Math & Stat Guangzhou 510006 Peoples R China

This paper studies the distributed state estimation problem for a linear system that is jointly observable with the consideration of communication noises and Markovian switching topologies. To address this issue, a network of observers is proposed, where each observer only measures partial system output, which may not be sufficient to observe the complete state of the system. Subsequently, all observers within the network collaborate by sharing their estimated states with their neighbours through the network, facilitating a cooperative reconstruction of the entire state at each local observer. To better reflect the communication environment, we consider a situation in which communication links may fail and rebuild over time, and communication noises may occur when observers exchange information through Markovian switching topologies. Parameters of observers are designed properly, under which each observer fulfills the estimation task in the mean square sense. Illustrative examples to demonstrate the effectiveness of the distributed observers are also provided.

关键词： State estimation distributed observers Markovian switching topologies communication noises

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Finite-time attitude consensus control for multiple rigid spacecraft based on distributed observers

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IET CONTROL THEORY AND APPLICATIONS 2023年第3期17卷 341-356页

作者： Qi, Wen-Nian Wu, Ai-Guo Huang, Jing Dong, Rui-Qi Harbin Inst Technol Shenzhen Sch Mech Engn & Automat Shenzhen 518055 Peoples R China Shanghai Aerosp Control Technol Inst Shanghai Peoples R China Shanghai Key Lab Aerosp Intelligent Control Techn Shanghai Peoples R China Tsinghua Univ Dept Precis Instrument Beijing Peoples R China

The problem of attitude consensus control is addressed for multiple rigid spacecraft under a fixed interaction network where only a subset of followers can obtain the leader's state information. To estimate the attitude and angular velocity of the leader, a group of distributed finite-time observers is constructed for each follower. Then fast non-singular terminal sliding mode attitude controllers are proposed for followers based on the observed information. Rigorous proofs are presented to show the finite-time attitude consensus performance of the closed-loop multiple rigid spacecraft systems under the proposed consensus protocol including distributed observers and attitude controllers. Numerical simulations are provided to illustrate the performance of the proposed attitude consensus protocol.

关键词： closed-loop multiple rigid spacecraft systems variable structure systems distributed observers observed information time attitude consensus control fixed interaction network Aerospace control distributed control leader angular velocity finite-time attitude consensus performance attitude consensus protocol observers attitude control angular velocity control Multivariable control systems distributed finite-time observers Control system analysis and synthesis methods nonsingular terminal sliding mode attitude controllers Velocity, acceleration and rotation control Stability in control theory space vehicles Spatial variables control

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distributed observers for LTI Systems With Finite Convergence Time: A Parameter-Estimation-Based Approach

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IEEE TRANSACTIONS ON AUTOMATIC CONTROL 2021年第10期66卷 4967-4974页

作者： Ortega, Romeo Nuno, Emmanuel Bobtsov, Alexey ITAM Dept Acad Sistemas Digitales Ciudad De Mexico 01080 Mexico ITMO Univ Dept Control Syst & Robot St Petersburg 197101 Russia Univ Guadalajara CUCEI Dept Comp Sci Guadalajara 44160 Jalisco Mexico

A novel approach to solve the problem of distributed state estimation of linear time-invariant systems is proposed in this article. It relies on the application of parameter-estimation-based observers, where the state observation task is reformulated as a parameter estimation problem. In contrast with existing results, our solution achieves convergence in finite time, without injection of high gain, and imposes very weak assumptions on the communication graph-namely, the existence of an open Hamiltonian walk. It is shown that this assumption is strictly weaker than the usual strong connectivity requirement. The scheme is shown to be robust vis-a-vis external disturbances and communication delays.

关键词： Convergence Sensors observers Sensor systems Topology Parameter estimation Observability distributed estimation distributed observers finite convergence LTI systems

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Robust distributed observers for Simultaneous State and Fault Estimation over Sensor Networks

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SENSORS 2024年第23期24卷 7589页

作者： Liang, Dingguo Ren, Yunxiao Lv, Yuezu Wang, Silong Peking Univ Coll Engn Dept Mech & Engn Sci Beijing 100871 Peoples R China Beijing Inst Technol Adv Res Inst Multidisciplinary Sci Beijing 100081 Peoples R China Deep Space Explorat Lab Beijing 100195 Peoples R China

This paper focuses on simultaneous estimation of states and faults for a linear time-invariant (LTI) system observed by sensor networks. Each sensor node is equipped with an observer, which uses only local measurements and local interaction with neighbors for monitoring. The observability of said observer is analyzed where non-local observability of a sensor node is required in terms of the system state and faults. The distributed observers present features of H infinity performance to constrain the influence of disturbances on the estimation errors, for which the global design condition is transformed into a linear matrix inequality (LMI). The LMI is proven to be solvable given collective observability of the system and a suitable H infinity performance index. Moreover, in the case that no disturbances exist, fully distributed observers with adaptive gains are designed to asymptotically estimate the states and faults without using any global information from the network. Finally, the effectiveness of the proposed methods is verified through case studies on a spacecraft's attitude control system.

关键词： distributed observers sensor networks fault estimation Hinfinity performance spacecraft attitude control

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Discrete-Time distributed observers Over Jointly Connected Switching Networks and an Application

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IEEE TRANSACTIONS ON AUTOMATIC CONTROL 2021年第4期66卷 1918-1924页

作者： Liu, Tao Huang, Jie Chinese Univ Hong Kong Dept Mech & Automat Engn Hong Kong Peoples R China

In this article, we first establish an exponential stability result for a class of linear switched systems and then apply this result to show the existence of the distributed observer for a discrete-time leader system over jointly connected switching networks. Then, we further develop the adaptive distributed observer for the discrete-time leader system over jointly connected switching networks, which has the advantage over the distributed observer in that, it does not require that every follower subsystem know the system matrix of the leader system. As an application of the discrete-time distributed observer, we solve the cooperative output regulation problem of a discrete-time linear multiagent system over jointly connected switching networks. A leader-following formation problem of mobile robots is used to illustrate our design.

关键词： observers Switches Multi-agent systems Switched systems Regulation Eigenvalues and eigenfunctions Cooperative output regulation distributed observers switched systems switching networks

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Cooperative Stabilization Control of the Linear Time-invariant System Based on distributed observers

Cooperative Stabilization Control of the Linear Time-invaria...

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Chinese Automation Congress (CAC)

作者： Li, Min Liu, Zhi-Wei Chi, Ming Zhang, Jia-Hao Huazhong Univ Sci & Technol Key Lab Image Proc & Intelligent Control Minist Educ Sch Artificial Intelligence & Automat Wuhan 430074 Peoples R China

ISBN: (纸本)9781728176871

In this paper, the cooperative stabilization problem of linear time-invariant (LTI) systems is studied based on a class of distributed Luenberger observers. A given LTI system is estimated by a network of observers. In case of observability configuration or external attack, each observer has to possess different measurement output of the LTI system. Classical distributed control strategies cannot be directly used because they are assumed to obtain identical information. In view of this problem, a class of distributed observers are designed under an undirected graph, which can recover the state of the LTI system by limited local information. By using any single channel of the estimated state, a control input is proposed to stabilize the LTI system. By analysing the stability of an augmented system which involves the LTI system and the estimation error system, some necessary and sufficient conditions arc derived for the existence of control gains that guarantee the stabilization of the LTI system. In addition, some algorithms are proposed to specify the control gains. Lastly, some simulation examples are given to verify the effectiveness of the theoretical result.

关键词： distributed observers stabilization state omniscience global observability

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Design of a Finite-Time Full-Order distributed Function observers for Interconnected Formation Flight Systems

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JOURNAL OF AEROSPACE ENGINEERING 2025年第4期38卷

作者： Qiu, Likuan Li, Danxia Chang, Jing Nanjing Univ Aeronaut & Astronaut Coll Astronaut Nanjing 211106 Peoples R China Shanghai Electro Mech Engn Inst Shanghai 200233 Peoples R China Henan Inst Technol Sch Intelligent Engn Xinxiang 453003 Peoples R China Xidian Univ Sch Aerosp Sci & Technol Xian 710071 Peoples R China

Formation flying increasingly emerged as a vanguard force in executing diverse missions. This paper provides a finite-time distributed state observer for interconnected formation flight systems by information exchange. Based on the linear matrix inequalities (LMIs), the designed parameters of the distributed observers can be obtained. At the same time, the computation is greatly reduced by the proposed algorithm. Furthermore, an improved distributed observer based on the preceding design method is proposed to estimate the states of the system more accurately and quickly. In addition, the proposed distributed estimation algorithm can also be applied to networked interconnected systems. Finally, the effectiveness of the proposed algorithm is further demonstrated by numerical examples and meta aircraft configuration that consists of multiple aircraft joined together.

关键词： distributed observers Linear matrix inequalities (LMIs) Formation flights systems

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distributed observers for LTI Systems

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IEEE TRANSACTIONS ON AUTOMATIC CONTROL 2018年第11期63卷 3689-3704页

作者： Mitra, Aritra Sundaram, Shreyas Purdue Univ Sch Elect & Comp Engn W Lafayette IN 47907 USA

We consider the problem of distributed state estimation of a linear time-invariant (LTI) system by a network of sensors. We develop a distributed observer that guarantees asymptotic reconstruction of the state for the most general class of LTI systems, sensor network topologies, and sensor measurement structures. Our analysis builds upon the following key observation-a given node can reconstruct a portion of the state solely by using its own measurements and constructing appropriate Luenberger observers;hence, it only needs to exchange information with neighbors (via consensus dynamics) for estimating the portion of the state that is not locally detectable. This intuitive approach leads to a new class of distributed observers with several appealing features. Furthermore, by imposing additional constraints on the system dynamics and network topology, we show that it is possible to construct a simpler version of the proposed distributed observer that achieves the same objective while admitting a fully distributed design phase. Our general framework allows extensions to time-varying networks that result from communication losses, and scenarios including faults or attacks at the nodes.

关键词： distributed estimation distributed observers large-scale networks linear system theory sensor networks

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Cooperative Output Regulation of LTI Plant via distributed observers With Local Measurement

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IEEE TRANSACTIONS ON CYBERNETICS 2018年第7期48卷 2181-2191页

作者： Liu, Kexin Chen, Yao Duan, Zhisheng Lu, Jinhu Peking Univ Coll Engn Dept Mech & Engn Sci State Key Lab Turbulence & Complex Syst Beijing 100871 Peoples R China Southwestern Univ Finance & Econ Dept Comp Sci Chengdu 611130 Sichuan Peoples R China Chinese Acad Sci Acad Math & Syst Sci Beijing 100190 Peoples R China Univ Chinese Acad Sci Beijing 100049 Peoples R China

Over the last decades, distributed output regulation problems have received much consideration due to its extensively applications in real world practices. Traditionally, it is assumed that each node obtains the same signal. However, an important observation is that each agent possesses different measurement due to the observability or configuration of the systems. To solve the output regulation problem in this case, we proposed a cooperative output regulation network, where each agent obtains a part of system output measurement on states of plant and exosystem. distributed state observers and disturbance observers are designed in order to fuse the observed data. Different from traditional literatures, our design shows that even none of the agents can locally reconstruct the state of exosystem, it is still possible to design a networked system to track the reference signal properly. Conditions that guarantee the existence of parameters are given in the cases, where the network topologies are fixed and time-varying, respectively. The simulation results verify our method very effectively.

关键词： distributed observers local measurement output regulation time-varying network

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Design of distributed observers in the Presence of Arbitrarily Large Communication Delays

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IEEE TRANSACTIONS ON NEURAL NETWORKS AND LEARNING SYSTEMS 2018年第9期29卷 4447-4461页

作者： Liu, Kexin Lu, Jinhu Lin, Zongli Peking Univ Coll Engn Dept Mech & Engn Sci State Key Lab Turbulence & Complex Syst Beijing 100871 Peoples R China Chinese Acad Sci Acad Math & Syst Sci Beijing 100190 Peoples R China Univ Chinese Acad Sci Beijing 100049 Peoples R China Univ Virginia Charles L Brown Dept Elect & Comp Engn Charlottesville VA USA

This paper focuses on the construction of distributed observers in the presence of arbitrarily large communication time delays. In contrast with the traditional centralized observer with the ability to acquire full output of the plant, we design a set of distributed observers, each having access to partial output of the plant through a distributed sensor network. More specifically, each observer obtains partial plant output and communicates with its neighboring observers through consensus protocols. The communication among the network is subject to arbitrarily large time delays. We consider three representative network topologies and for each topology establish conditions to guarantee the observation error systems be exponentially stable. We also consider the design of a pinning synchronization problem as a dual problem of the design of distributed observers. Numerical simulation is carried out to verify the effectiveness of our theoretical analysis.

关键词： distributed observers low-gain feedback multiagent systems (MASs) time delay

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