Distributed Prescribed-Time Observer for Nonlinear Systems in Block-Triangular Form
2025 (English)In: IEEE Control Systems Letters, E-ISSN 2475-1456, Vol. 9, p. 222-227Article in journal (Refereed) Published
Abstract [en]
This letter proposes a design of a distributed prescribed-time observer for nonlinear systems representable in a block-triangular observable canonical form. Using a weighted average of neighbor estimates exchanged over a strongly connected digraph, each observer estimates the system state despite the limited observability of local sensor measurements. The proposed design guarantees that distributed state estimation errors converge to zero at a user-specified convergence time, irrespective of observers' initial conditions. To achieve this prescribed-time convergence, distributed observers implement time-varying local output injection gains that monotonically increase and approach infinity at the prescribed time. The theoretical convergence is rigorously proven and validated through numerical simulations, where some implementation issues due to increasing gains have also been clarified.
Place, publisher, year, edition, pages
Institute of Electrical and Electronics Engineers (IEEE) , 2025. Vol. 9, p. 222-227
Keywords [en]
Observers, Convergence, Nonlinear systems, Symmetric matrices, Observability, Directed graphs, Control systems, Vectors, Linear systems, Electronic mail, Distributed observers, sensor networks, prescribed-time state estimation
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:kth:diva-367927DOI: 10.1109/LCSYS.2025.3570577ISI: 001494109100003Scopus ID: 2-s2.0-105006543851OAI: oai:DiVA.org:kth-367927DiVA, id: diva2:1987513
Note
QC 20250923
2025-08-062025-08-062025-09-23Bibliographically approved