Communication delays and data losses in distributed adaptive high‐gain EKF |
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Authors: | Mohammad Rashedi Jinfeng Liu Biao Huang |
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Affiliation: | Dept. Chemical and Materials Engineering, University of Alberta, Edmonton, AB, Canada |
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Abstract: | In this work, we consider distributed adaptive high‐gain extended Kalman filtering for nonlinear systems subject to data losses and delays in communications. Specifically, we consider a class of nonlinear systems that consist of several subsystems interacting with each other via their states. A local adaptive high‐gain extended Kalman filter is designed for each subsystem and the distributed estimators communicate to exchange the information. Each subsystem estimator takes the advantage of a predictor accounting for the delays and data losses simultaneously. The predictor of each subsystem is used to generate state predictions of interacting subsystems for interaction compensation. To get a reliable prediction, the predictors are designed based on a prediction‐update algorithm. The convergence of the proposed distributed state estimation is ensured under sufficient conditions handling communication delays and data losses. Finally, a chemical process example is used to evaluate the applicability and effectiveness of the proposed design. © 2016 American Institute of Chemical Engineers AIChE J, 62: 4321–4333, 2016 |
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Keywords: | high‐gain observers distributed filtering adaptive‐gain EKF communication delay data loss |
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