학술논문
Stability Analysis of Constrained Distributed Nonlinear and Linear Kalman Filters for Dynamical Systems With State Constraints
Document Type
Periodical
Source
IEEE Transactions on Aerospace and Electronic Systems IEEE Trans. Aerosp. Electron. Syst. Aerospace and Electronic Systems, IEEE Transactions on. 60(1):632-643 Feb, 2024
Subject
Language
ISSN
0018-9251
1557-9603
2371-9877
1557-9603
2371-9877
Abstract
This article investigates the distributed nonlinear and linear Kalman filters for dynamical systems with state equality constraints via a sensor network, where each sensor estimates the system states by utilizing its own and neighbors' information. First, a constrained distributed extended Kalman filter is proposed, and its stability is proven under feasibility conditions. Then, this constrained distributed extended Kalman filter is relaxed to the linear form, obtaining more precise results under weaker conditions. Moreover, a local constraint fusion algorithm is proposed. Finally, the effectiveness of the proposed filters is demonstrated by two simulation examples.