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A Scalable Modularized Synthesis Method for Distributed Kalman Filters

Mårtensson, Karl LU and Rantzer, Anders LU (2011) 18th IFAC World Congress, 2011
Abstract
This paper presents a scheme to construct distributed observers for a system consisting of agents interconnected in a graph structure. The scheme is an iterative procedure to improve the observers with respect to global performance. It is modular in the sense that each agent iterates using only local model information. As a consequence, the complexity of the scheme scales linearly with the size of the system. The resulting observers estimate states for each agent using only local measurements and model knowledge of its neighbors. Distributed observers are suboptimal to centralized ones and it is desirable to measure the amount of performance degradation. We show how to use the variables of the synthesis scheme to also determine such a... (More)
This paper presents a scheme to construct distributed observers for a system consisting of agents interconnected in a graph structure. The scheme is an iterative procedure to improve the observers with respect to global performance. It is modular in the sense that each agent iterates using only local model information. As a consequence, the complexity of the scheme scales linearly with the size of the system. The resulting observers estimate states for each agent using only local measurements and model knowledge of its neighbors. Distributed observers are suboptimal to centralized ones and it is desirable to measure the amount of performance degradation. We show how to use the variables of the synthesis scheme to also determine such a measure of the suboptimality. (Less)
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author
organization
publishing date
type
Contribution to conference
publication status
published
subject
keywords
Distributed Estimation
conference name
18th IFAC World Congress, 2011
external identifiers
  • Scopus:84866760352
project
LCCC
CHAT
language
English
LU publication?
yes
id
7281c9f7-4ef0-4ad8-a5cd-9d15f263147e (old id 2173289)
date added to LUP
2011-10-11 11:19:51
date last changed
2016-10-13 04:55:12
@misc{7281c9f7-4ef0-4ad8-a5cd-9d15f263147e,
  abstract     = {This paper presents a scheme to construct distributed observers for a system consisting of agents interconnected in a graph structure. The scheme is an iterative procedure to improve the observers with respect to global performance. It is modular in the sense that each agent iterates using only local model information. As a consequence, the complexity of the scheme scales linearly with the size of the system. The resulting observers estimate states for each agent using only local measurements and model knowledge of its neighbors. Distributed observers are suboptimal to centralized ones and it is desirable to measure the amount of performance degradation. We show how to use the variables of the synthesis scheme to also determine such a measure of the suboptimality.},
  author       = {Mårtensson, Karl and Rantzer, Anders},
  keyword      = {Distributed Estimation},
  language     = {eng},
  title        = {A Scalable Modularized Synthesis Method for Distributed Kalman Filters},
  year         = {2011},
}