A networked multi-sensor dot-view estimator with partial and delayed observation

The use of networks in a networked control system (NCS) has two purposes: first, transmitting the sensor measurements to the controller through the sensor-side network and second, sending control signals to the actuators via the actuator-side network. In order to meet the first purpose, an optimal estimator is proposed which not only estimates the plant states in the presence of process and measurement noises, but also tolerates the limitations-such as delay, packet dropout, multisensor observation transmission and out of order observation receiving-in wireless sensor-actuator networks (WSANs). The main distinction of the proposed estimator is its dot-view aspect which minimizes the trace of estimation error covariance in the time step of present state, instead of a time interval of present and previous states. Numerical examples and simulations are worked out to demonstrate the effectiveness of the proposed technique.