Distributed Estimation over Delayed Sensor Network with Scalable Communication

This paper proposes a distributed delay-compensated observer for a wireless sensor network with delay. Each node of the sensor network aggregates data from the other nodes and sends the aggregated data to the neighbor nodes. In this communication, each node also compensates communication delays among the neighbor nodes. Therefore, all of the nodes can synchronize their sensor measurements using scalable and local communication in real-time. All of the nodes estimate the state variables of a system simultaneously. The observer in each node is similar to the delay-compensated observer with multi-sensor delays proposed by Watanabe et al. Convergence rates for the proposed observer can be arbitrarily designed regardless of the communication delays. The effectiveness of the proposed method is verified by a numerical simulation.