Jump state estimation with multiple sensors with packet dropping and delaying channels |
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Authors: | Daniel Dolz Roberto Sanchis |
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Affiliation: | Departament d’Enginyeria de Sistemes Industrials i Disseny, Universitat Jaume I, Casetelló, Spain |
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Abstract: | This work addresses the design of a state observer for systems whose outputs are measured through a communication network. The measurements from each sensor node are assumed to arrive randomly, scarcely and with a time-varying delay. The proposed model of the plant and the network measurement scenarios cover the cases of multiple sensors, out-of-sequence measurements, buffered measurements on a single packet and multirate sensor measurements. A jump observer is proposed that selects a different gain depending on the number of periods elapsed between successfully received measurements and on the available data. A finite set of gains is pre-calculated offline with a tractable optimisation problem, where the complexity of the observer implementation is a design parameter. The computational cost of the observer implementation is much lower than in the Kalman filter, whilst the performance is similar. Several examples illustrate the observer design for different measurement scenarios and observer complexity and show the achievable performance. |
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Keywords: | state estimation packet dropouts networked control systems wireless sensor network stochastic stability packet-delaying networks out-of-sequence measurements (OOSMs) multisensor systems bufferised measurement |
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