Distributed Kalman Filters With State Equality Constraints: Time-Based and Event-Triggered Communications

doi:10.1109/TAC.2019.2906462

	Distributed Kalman Filters With State Equality Constraints: Time-Based and Event-Triggered Communications
	He, Xingkang 1,4; Hu, Chen 3; Hong, Yiguang 4; Shi, Ling 2; Fang, Hai-Tao 4
刊名	IEEE TRANSACTIONS ON AUTOMATIC CONTROL
	2020
卷号	65 期号:1 页码:28-43
关键词	Kalman filters Observability Covariance matrices STEM Protocols State estimation Collective observability communication rate consistency distributed kalman filter event-triggered multiagent systems state equality constraint (SEC)
ISSN号	0018-9286
DOI	10.1109/TAC.2019.2906462
英文摘要	In this paper, we investigate a distributed estimation problem for multiagent systems with state equality constraints (SEC). First, under a time-based consensus communication protocol, applying a modified projection operator and the covariance intersection fusion method, we propose a distributed Kalman filter with guaranteed consistency and satisfied SEC. Furthermore, we establish the relationship between consensus step, SEC, and estimation error covariance in dynamic and steady processes, respectively. Employing a space decomposition method, we show that the error covariance in the constraint set can be arbitrarily small by setting a sufficiently large consensus step. Besides, we propose an extended collective observability (ECO) condition based on SEC, which is milder than existing observability conditions. Under the ECO condition, through utilizing a technique of matrix approximation, we prove the boundedness of error covariance and the exponentially asymptotic unbiasedness of state estimate, respectively. Moreover, under the ECO condition for linear time-invariant systems with SEC, we provide a novel event-triggered communication protocol by employing the consistency, and give an offline design principle of triggering thresholds with guaranteed boundedness of error covariance. More importantly, we quantify and analyze the communication rate for the proposed event-triggered distributed Kalman filter, and provide optimization based methods to obtain the minimal (maximal) successive nontriggering (triggering) times. Two simulations are provided to demonstrate the developed theoretical results and the effectiveness of the filters.
资助项目	National Key Research and Development Program of China[2016YFB0901902] ; National Natural Science Foundation of China[61573344] ; National Natural Science Foundation of China[61733018] ; RGC General Research Fund[16222716]
WOS研究方向	Automation & Control Systems ; Engineering
语种	英语
出版者	IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
WOS记录号	WOS:000506851100003
内容类型	期刊论文
源URL	[http://ir.amss.ac.cn/handle/2S8OKBNM/50594]
专题	中国科学院数学与系统科学研究院
通讯作者	He, Xingkang
作者单位	1.KTH Royal Inst Technol, Div Decis & Control Syst, SE-10044 Stockholm, Sweden 2.Hong Kong Univ Sci & Technol, Dept Elect & Comp Engn, Hong Kong, Peoples R China 3.Rocket Force Univ Engn, Xian 710025, Peoples R China 4.Chinese Acad Sci, Key Lab Syst & Control, Acad Math & Syst Sci, Beijing 100190, Peoples R China
推荐引用方式 GB/T 7714	He, Xingkang,Hu, Chen,Hong, Yiguang,et al. Distributed Kalman Filters With State Equality Constraints: Time-Based and Event-Triggered Communications[J]. IEEE TRANSACTIONS ON AUTOMATIC CONTROL,2020,65(1):28-43.
APA	He, Xingkang,Hu, Chen,Hong, Yiguang,Shi, Ling,&Fang, Hai-Tao.(2020).Distributed Kalman Filters With State Equality Constraints: Time-Based and Event-Triggered Communications.IEEE TRANSACTIONS ON AUTOMATIC CONTROL,65(1),28-43.
MLA	He, Xingkang,et al."Distributed Kalman Filters With State Equality Constraints: Time-Based and Event-Triggered Communications".IEEE TRANSACTIONS ON AUTOMATIC CONTROL 65.1(2020):28-43.