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Distributed set-based observers using diffusion strategies
KTH, School of Electrical Engineering and Computer Science (EECS), Intelligent systems, Decision and Control Systems (Automatic Control). Constructor Univ, Sch Comp Sci & Engn, Bremen, Germany..ORCID iD: 0000-0003-2941-519x
Inst Infrastruct Technol Res & Management, Dept Mech & Aerosp Engn, Ahmadabad, India..
Ain Shams Univ, Dept Comp Engn, Cairo, Egypt..
KTH, School of Electrical Engineering and Computer Science (EECS), Intelligent systems, Decision and Control Systems (Automatic Control).ORCID iD: 0000-0001-9940-5929
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2023 (English)In: Journal of the Franklin Institute, ISSN 0016-0032, E-ISSN 1879-2693, Vol. 360, no 10, p. 6976-6993Article in journal (Refereed) Published
Abstract [en]

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.

Place, publisher, year, edition, pages
Elsevier BV , 2023. Vol. 360, no 10, p. 6976-6993
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:kth:diva-331211DOI: 10.1016/j.jfranklin.2023.03.025ISI: 001012570100001Scopus ID: 2-s2.0-85160558167OAI: oai:DiVA.org:kth-331211DiVA, id: diva2:1780757
Note

QC 20230706

Available from: 2023-07-06 Created: 2023-07-06 Last updated: 2023-07-06Bibliographically approved

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Alanwar, AmrJohansson, Karl H.

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