Distributed Kalman Filtering for Noisy Consensus Networks with Time Delays

被引：0
|
作者：
Haumann, Dominik [1 ]
Loeffler, Maximilian [1 ]
Willert, Volker [1 ]
机构：
[1] Tech Univ Darmstadt, Control Theory & Robot Lab, D-64283 Darmstadt, Germany
来源：
2012 IEEE 9TH INTERNATIONAL CONFERENCE ON MOBILE AD-HOC AND SENSOR SYSTEMS (MASS): WORKSHOPS | 2012年
关键词：
MULTIAGENT SYSTEMS;
D O I：
暂无
中图分类号：
TP3 [计算技术、计算机技术];
学科分类号：
0812 ;
摘要：
This work focuses on consensus networks consisting of a group of mobile agents in the presence of noise and time delays. Due to noise, exact consensus is never reached. Hence, we propose fully distributed and local Kalman filters that filter only a subset of all system states while maintaining a filter quality close to a global Kalman filter. Feasibility is guaranteed by communicating measurements through the network, introducing time delays. The overall system stability is analyzed. Simulations demonstrate the performance of the proposed distributed filters.
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页数：6
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