Distributed set-based observers using diffusion strategies

• DOI: 10.1016/j.jfranklin.2023.03.025
• Publication Date: 2023-04-23T01:07:13Z
• Authors: Amr Alanwar; Jagat Jyoti Rath; Hazem Said; Karl Henrik Johan...; Matthias Althoff
• Keywords: Diffusion map

We propose two distributed set-based observers using strip-based and set-propagation approaches for linear discrete-time dynamical systems with bounded modeling measurement uncertainties. Both algorithms utilize a diffusion step, which decreases the estimation errors size of estimated sets, can be seen as lightweight approach to achieve partial consensus between sets. Every node shares its neighbor in update step. In neighbors intersect their sets our novel zonotope intersection technique. A localization example demonstrates applicability algorithms.