Consensus-based unscented Kalman filtering over sensor networks with communication protocols

被引：9
|
作者：
Sheng, Li [1 ,2 ]
Huai, Wuxiang [1 ]
Niu, Yichun [1 ]
Gao, Ming [1 ]
机构：
[1] China Univ Petr East China, Coll Control Sci & Engn, Qingdao 266580, Peoples R China
[2] China Univ Petr East China, Key Lab Unconvent Oil & Gas Dev MOE, Qingdao, Peoples R China
来源：
INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL | 2021年 / 31卷 / 13期
基金：
中国国家自然科学基金;
关键词：
consensus‐ based distributed filtering; Round‐ Robin protocol; sensor networks; stochastic protocol; unscented Kalman filtering; DISTRIBUTED ESTIMATION; COMPLEX NETWORKS; STATE ESTIMATION; MOBILE ROBOTS; SYSTEMS; STABILITY; SUBJECT; NOISES; UKF;
D O I：
10.1002/rnc.5614
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This article is concerned with the consensus-based distributed filtering problem for a class of general nonlinear systems over sensor networks with communication protocols. In order to avoid data collisions, the stochastic protocol and the Round-Robin protocol are respectively introduced to schedule the data transmission between each node and its neighboring ones. A consensus-based unscented Kalman filtering (UKF) algorithm is developed for the purpose of estimating the system states over sensor networks subject to communication protocols. Moreover, the exponential boundedness of estimation error in mean square is proved for the proposed algorithm. Finally, compared with the extended Kalman filtering, an experimental simulation example is provided to validate the effectiveness of the consensus-based UKF algorithm.
引用
收藏
页码：6349 / 6368
页数：20
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