Distributed Kalman Filters With State Equality Constraints: Time-Based and Event-Triggered Communications
He, Xingkang1,2; Hu, Chen3; Hong, Yiguang2; Shi, Ling4; Fang, Hai-Tao2
AbstractIn 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.
KeywordKalman filters Observability Covariance matrices STEM Protocols State estimation Collective observability communication rate consistency distributed kalman filter event-triggered multiagent systems state equality constraint (SEC)
Indexed BySCI
Funding ProjectNational 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 Research AreaAutomation & Control Systems ; Engineering
WOS SubjectAutomation & Control Systems ; Engineering, Electrical & Electronic
WOS IDWOS:000506851100003
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Document Type期刊论文
Corresponding AuthorHe, Xingkang
Affiliation1.KTH Royal Inst Technol, Div Decis & Control Syst, SE-10044 Stockholm, Sweden
2.Chinese Acad Sci, Key Lab Syst & Control, Acad Math & Syst Sci, Beijing 100190, Peoples R China
3.Rocket Force Univ Engn, Xian 710025, Peoples R China
4.Hong Kong Univ Sci & Technol, Dept Elect & Comp Engn, Hong Kong, Peoples R China
Recommended Citation
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.
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