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Elimination of fixed modes of a decentralized distributed estimator with inter-agent communication

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2 Author(s)
Maxim V. Subbotin ; Department of Electrical and Computer Engineering, University of California, Santa Barbara, 93106-9560, USA ; Roy S. Smith

We consider a decentralized distributed estimator for a formation of agents described with a discrete-time LTI system. Due to the decentralized structure, the estimator may contain poles invariant with respect to local agents¿ observer gains. We prove that under mild observability assumptions there exists a communication topology and transmitter-receiver gains which allow assigning all the poles of the distributed estimator. We also propose an algorithm for the design of a minimal communication topology which guarantees closed-loop pole assignability.

Published in:

Decision and Control, 2008. CDC 2008. 47th IEEE Conference on

Date of Conference:

9-11 Dec. 2008