论文标题
使用扩散策略的分布式基于集合的观察者
Distributed Set-Based Observers Using Diffusion Strategies
论文作者
论文摘要
我们使用基于带状的和集合的方法为线性离散时间动力学系统提出了两个基于分布式集合的观察者，具有有限的建模和测量不确定性。两种算法都使用了基于集的扩散步骤，该步骤降低了估计错误和估计集的大小，并且可以看作是一种轻巧的方法，可以在分布式估计的集合之间达成部分共识。每个节点在测量更新步骤中都与邻居共享其测量。在扩散步骤中，邻居使用我们的新型轻质扎根交点技术将其估计集相交。一个本地化示例演示了我们的算法的适用性。
We propose two distributed set-based observers using strip-based and set-propagation approaches for linear discrete-time dynamical systems with bounded modeling and measurement uncertainties. Both algorithms utilize a set-based diffusion step, which decreases the estimation errors and the size of estimated sets, and can be seen as a lightweight approach to achieve partial consensus between the distributed estimated sets. Every node shares its measurement with its neighbor in the measurement update step. In the diffusion step, the neighbors intersect their estimated sets using our novel lightweight zonotope intersection technique. A localization example demonstrates the applicability of our algorithms.
