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)
Please use this url to cite or link to this publication:
https://lup.lub.lu.se/record/2173289
- author
- Mårtensson, Karl
LU
and Rantzer, Anders
LU
- organization
- publishing date
- 2011
- type
- Contribution to conference
- publication status
- published
- subject
- keywords
- Distributed Estimation
- conference name
- 18th IFAC World Congress, 2011
- conference location
- Milan, Italy
- conference dates
- 2011-08-28 - 2011-09-02
- external identifiers
-
- scopus:84866760352
- project
- CHAT
- LCCC
- language
- English
- LU publication?
- yes
- additional info
- key=mar+ran11
- id
- 7281c9f7-4ef0-4ad8-a5cd-9d15f263147e (old id 2173289)
- date added to LUP
- 2016-04-04 13:27:53
- date last changed
- 2023-09-06 16:50:36
@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}},
keywords = {{Distributed Estimation}},
language = {{eng}},
title = {{A Scalable Modularized Synthesis Method for Distributed Kalman Filters}},
url = {{https://lup.lub.lu.se/search/files/6126277/8083848.pdf}},
year = {{2011}},
}