arXivDaily arXiv每日学术速递 周一至周五更新
arXiv 2102.11250eess.SPcs.SYeess.SY
收藏

分布式滤波器的稳定性和收敛性

On Stability and Convergence of Distributed Filters

Sayed Pouria Talebi, Stefan Werner, Vijay Gupta, Yih-Fang Huang

摘要:

近年来,见证了分布式过滤技术的扩散,其中一个集合的代理在一个ad-hoc网络通信的目的是协同估计和跟踪系统的状态。这些技术构成了现代多智能体系统的使能技术,并在工程界获得了极大的重要性。虽然大多数分布式过滤技术都有一套稳定性和收敛性标准,但所施加的条件被认为是不必要的限制。本文对分布式滤波的稳定性和收敛性的研究范式进行了修正。因此,一般的分布式滤波器的构造和它的估计误差动态公式。所进行的分析表明,实现稳定过滤操作的条件与集中过滤设置中所需的条件相同。最后,在卡尔曼滤波框架中证明了这些概念,并使用仿真实例进行了验证。

英文摘要:

Recent years have bore witness to the proliferation of distributed filtering techniques, where a collection of agents communicating over an ad-hoc network aim to collaboratively estimate and track the state of a system. These techniques form the enabling technology of modern multi-agent systems and have gained great importance in the engineering community. Although most distributed filtering techniques come with a set of stability and convergence criteria, the conditions imposed are found to be unnecessarily restrictive. The paradigm of stability and convergence in distributed filtering is revised in this manuscript. Accordingly, a general distributed filter is constructed and its estimation error dynamics is formulated. The conducted analysis demonstrates that conditions for achieving stable filtering operations are the same as those required in the centralized filtering setting. Finally, the concepts are demonstrated in a Kalman filtering framework and validated using simulation examples.

机构、总结、中文摘要均由AI分析而来,可能存在错误,请以论文正文为准。

↑