Decentralized state estimation in connected systems

Abstract This paper considers the problem of state estimation and unknown input reconstruction of a class of connected heterogeneous LTI MIMO systems. Local high order sliding mode observers at each node of the network are designed for this purpose. The proposed method, under some network structural conditions, is inherently robust, nonlinear and totally independent of the time-varying network topology. Knowledge of the number of nodes that belong to the network is not required. At the supervisory level, decentralized control signals are computed based on the state estimates in order to operate the networking synchronization. By mean of simulation, the effectiveness of the proposal procedure is shown.

[1]  Siro Pillosu,et al.  Decentralised state estimation for linear systems with unknown inputs: a consensus-based approach , 2011 .

[2]  Leonid M. Fridman,et al.  Finite-time state observation for non-linear uncertain systems via higher-order sliding modes , 2009, Int. J. Control.

[3]  Duncan J. Watts,et al.  Collective dynamics of ‘small-world’ networks , 1998, Nature.

[4]  Alexander S. Poznyak,et al.  Observation of linear systems with unknown inputs via high-order sliding-modes , 2007, Int. J. Syst. Sci..

[5]  Milos S. Stankovic,et al.  Consensus Based Overlapping Decentralized Estimator , 2009, IEEE Transactions on Automatic Control.

[6]  Harry L. Trentelman,et al.  Control theory for linear systems , 2002 .

[7]  Giorgio Bartolini,et al.  A survey of applications of second-order sliding mode control to mechanical systems , 2003 .

[8]  Arie Levant,et al.  Quasi-continuous high-order sliding-mode controllers , 2005, IEEE Transactions on Automatic Control.

[9]  Mark E. J. Newman,et al.  Structure and Dynamics of Networks , 2009 .

[10]  Chai Wah Wu,et al.  Synchronization in Complex Networks of Nonlinear Dynamical Systems , 2008 .

[11]  J. Yan,et al.  Robust synchronization of chaotic systems via adaptive sliding mode control , 2006 .

[12]  Reka Albert,et al.  Mean-field theory for scale-free random networks , 1999 .

[13]  Guanrong Chen,et al.  Pinning control of scale-free dynamical networks , 2002 .

[14]  B. Bollobás.  The evolution of random graphs , 1984 .

[15]  A. Levant.  Robust exact differentiation via sliding mode technique , 1998 .

[16]  Christopher Edwards,et al.  State reconstruction in complex networks using sliding mode observers , 2008, 2008 47th IEEE Conference on Decision and Control.

[17]  Eric W. Frew,et al.  Radio Source Localization by a Cooperating UAV Team , 2005 .

[18]  J. Suykens,et al.  Robust synthesis for master-slave synchronization of Lur'e systems , 1999 .

[19]  A. Levant.  Sliding order and sliding accuracy in sliding mode control , 1993 .

[20]  Aleksej F. Filippov,et al.  Differential Equations with Discontinuous Righthand Sides , 1988, Mathematics and Its Applications.