A distributed set-membership estimator for linear systems considering multi-hop subspace decomposition

摘要

This paper presents a distributed set-membership estimator for linear full-coupled systems affected by bounded disturbances. The estimator makes use of a recently developed multi-hop subspace decomposition of the system that allows to transform the dynamic matrix into an upper triangular matrix, decoupling the influence of the non-observable modes to the observable ones. This way, each agent has to compute sets to encompass the observable dynamics on the one hand, and the unobservable dynamics on the other. The sets are mathematically described by zonotopes. Due to the multi-hop decomposition, the agents are able to design different gains for the observable and the unobservable part, pursuing the reduction in volume of the corresponding sets. The paper presents the solution for the two-agents case. Simulations are given to compare the proposed solution with existing ones in the field.