Kybernetika 56 no. 1, 189-212, 2020

On hybrid consensus-based extended Kalman filtering with random link failures over sensor networks

Pailiang Zhu, Guoliang Wei and Jiajia LiDOI: 10.14736/kyb-2020-1-0189

Abstract:

This paper is concerned with the distributed filtering problem for nonlinear time-varying systems over wireless sensor networks under random link failures. To achieve consensus estimation, each sensor node is allowed to communicate with its neighboring nodes according to a prescribed communication topology. Firstly, a new hybrid consensus-based filtering algorithm under random link failures, which affect the information exchange between sensors and are modeled by a set of independent Bernoulli processes, is designed via redefining the interaction weights. Second, a novel observability condition, called parameterized jointly uniform observability, is proposed to ensure the stochastic boundedness of the error covariances of the hybrid consensus-based filtering algorithm. Finally, an example is given to demonstrate the effectiveness of the derived theoretical results.

Keywords:

extended Kalman filter, hybrid consensus filter, sensor network, distributed state estimation, random link failure

paper.pdf

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