Centralized Fusion Time-delay Fractional Order Kalman Filter

Time delay refers to the time delay that occurs during the transmission of signals. In the practical application of fractional order system models, time delay is widely present and cannot be avoided, seriously affecting the stability of fractional order systems. By using the method of state augmentation, the observed time-delay fractional order system is transformed into a non time-delay augmented fractional order system. Compared with the existing non augmentation method, it avoids the computational burden and accuracy loss caused by smooth estimation, and the estimation accuracy is higher. A multi-sensor delay fractional order system fusion filter was further obtained through centralized fusion.