Delay-Tolerant Consensus-based Distributed Estimation: Full-Rank Systems with Potentially Unstable Dynamics

04/01/2021
by   Mohammadreza Doostmohammadian, et al.
0

Classical distributed estimation scenarios typically assume timely and reliable exchange of information over the multi-agent network. This paper, in contrast, considers single time-scale distributed estimation of (potentially) unstable full-rank dynamical systems via a multi-agent network subject to transmission time-delays. The proposed networked estimator consists of two steps: (i) consensus on (delayed) a-priori estimates, and (ii) measurement update. The agents only share their a-priori estimates with their in-neighbors over time-delayed transmission links. Considering the most general case, the delays are assumed to be time-varying, arbitrary, unknown, but upper-bounded. In contrast to most recent distributed observers assuming system observability in the neighborhood of each agent, our proposed estimator makes no such assumption. This may significantly reduce the communication/sensing loads on agents in large-scale, while making the (distributed) observability analysis more challenging. Using the notions of augmented matrices and Kronecker product, the geometric convergence of the proposed estimator over strongly-connected networks is proved irrespective of the bound on the time-delay. Simulations are provided to support our theoretical results.

READ FULL TEXT

Authors

page 1

03/21/2018

Connectivity-Preserving Coordination Control of Multi-Agent Systems with Time-Varying Delays

This paper presents a distributed position synchronization strategy that...
09/20/2021

Distributed Detection and Mitigation of Biasing Attacks over Multi-Agent Networks

This paper proposes a distributed attack detection and mitigation techni...
09/04/2017

Consensus of second order multi-agents with actuator saturation and asynchronous time-delays

This article presents the consensus of a saturated second order multi-ag...
02/04/2019

COME TOGETHER: Multi-Agent Geometric Consensus (Gathering, Rendezvous, Clustering, Aggregation)

This report surveys results on distributed systems comprising mobile age...
05/15/2021

Delay Robustness of Consensus Algorithms: Beyond The Uniform Connectivity (Extended Version)

Consensus of autonomous agents is a benchmark problem in multi-agent con...
08/22/2019

Distributed Cooperative Online Estimation With Random Observation Matrices, Communication Graphs and Time-Delays

We analyze convergence of distributed cooperative online estimation algo...
03/07/2022

On observability and optimal gain design for distributed linear filtering and prediction

This paper presents a new approach to distributed linear filtering and p...
This week in AI

Get the week's most popular data science and artificial intelligence research sent straight to your inbox every Saturday.