Distributed non-linear robust consensus-based sensor calibration for networked control systems

摘要

In this study a new algorithm is proposed for distributed blind sensor macro-calibration in networked control systems robust to noise. The proposed distributed algorithm for estimation of gain and offset correction parameters is of stochastic approximation type, with local non-linear transformations of residuals. Convergence of the algorithm in mean-square and with probability one to consensus is proved for a large class of non-linear transformations, network properties and communication and measurement noise characteristics. The choice of the introduced non-linear transformations in accordance with the theory of robust statistics leads to the proposal of new calibration algorithms robustified w.r.t. noise. It is demonstrated by Monte Carlo simulation that the proposed algorithms are very efficient in the presence of large outliers from the point of view of both achievement of high convergence rate and adequate values of convergence points, outperforming the existing linear algorithms.