A robust distributed observer design for Lipschitz nonlinear systems with time-varying switching topology |
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| Institution: | 1. Department of Electrical Engineering, University of Isfahan, Isfahan, Iran;2. Electrical and Computer Engineering, Binghamton University, SUNY, NY, USA;3. Engineering Department, Lancaster University, Gillow Avenue, Lancaster, England;1. College of Marine Electrical Engineering, Dalian Maritime University, Dalian 116026, Liaoning, China;2. Key Laboratory of Technology and System for Intelligent Ships of Liaoning Province, Dalian 116026, Liaoning, China;1. Faculty of Science, Beijing University of Technology, Beijing 100124, China;2. School of Computer Science, Beijing Information Science and Technology University, Beijing 100101, China;3. Faculty of Information Technology, Beijing University of Technology, Beijing 100124, China;1. College of Information Science and Engineering, Northeastern University, Shenyang 110819, PR China;2. State Key Laboratory of Synthetical Automation of Process Industries, Northeastern University, Shenyang 110819, PR China |
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| Abstract: | This paper deals with state estimation for a class of Lipschitz nonlinear systems under a time-varying disconnected communication network. A distributed observer consists of some local observers that are connected to each other through a communication network. We consider a situation where a communication network does not remain connected all the time, and the network may be caused by intermittent communication link failure. Moreover, each local observer has access to a local measurement, which may be insufficient to ensure the system’s observability, but the collection of all measurements in the network ensures observability. In this condition, the purpose is to design a distributed observer where the estimated state vectors of all local observers converge to the state vector of the system asymptotically, while local observers exchange estimated state vectors through a communication network and use their local measurements. According to theoretical analysis, a nonlinear and a robust nonlinear distributed observer exist when in addition to the union of all communication topologies being strongly connected during a time interval, the component of each communication graph is also strongly connected during each subinterval. The existence conditions of the distributed observers are derived in terms of a set of linear matrix inequalities (LMIs). Finally, the effectiveness of the presented method is numerically verified using some simulation examples. |
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