Consensus-Based Distributed Estimation in the Presence of Heterogeneous, Time-Invariant Delays

Mohammadreza Doostmohammadian*, Usman A. Khan, Mohammad Pirani, Themistoklis Charalambous

*Corresponding author for this work

Research output: Contribution to journalArticleScientificpeer-review

21 Citations (Scopus)
129 Downloads (Pure)

Abstract

Classical distributed estimation scenarios typically assume timely and reliable exchanges of information over the sensor network. This letter, in contrast, considers single time-scale distributed estimation via a sensor network subject to transmission time-delays. The proposed discrete-time networked estimator consists of two steps: (i) consensus on (delayed) a-priori estimates, and (ii) measurement update. The sensors only share their a-priori estimates with their out-neighbors over (possibly) time-delayed transmission links. The delays are assumed to be fixed over time, heterogeneous, and known. We assume distributed observability instead of local observability, which significantly reduces the communication/sensing loads on sensors. Using the notions of augmented matrices and the Kronecker product, the convergence of the proposed estimator over strongly-connected networks is proved for a specific upper-bound on the time-delay.

Original languageEnglish
Pages (from-to)1598-1603
Number of pages6
JournalIEEE Control Systems Letters
Volume6
DOIs
Publication statusPublished - 2022
MoE publication typeA1 Journal article-refereed

Keywords

  • communication time-delays
  • consensus
  • Distributed estimation
  • Kronecker product

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