A simple finite-time distributed observer design for linear time-invariant systems

Haik Silm (1) , Denis Efimov (2) , Wim Michiels (3) , Rosane Ushirobira (2) , Jean-Pierre Richard (1)

1 Centrale Lille
2 VALSE - Finite-time control and estimation for distributed systems
3 DCS - Department of Computer Science [Leuven]

A design of a distributed observer is proposed for continuous-time systems with nonlinear observer nodes such that the estimation errors converge in a finite time to zero. By taking advantage of individual observability decompositions, the designs for the locally observable and the unobservable substate are made independent from each other. For the observable substate of each node, standard centralized finite-time observer techniques are applied. To estimate distributively the unobservable substate, the observer nodes employ consensus coupling in a linear term and an additional term embedded in a fractional power. The approach is derived using homogeneity arguments and it leads to a simple design with an LMI that is guaranteed to be feasible under general conditions.

Mots clés: Distributed estimation; Linear systems; Finite-time observers; Homogeneity

Domaines: Automatique / Robotique

Haik Silm, Denis Efimov, Wim Michiels, Rosane Ushirobira, Jean-Pierre Richard. A simple finite-time distributed observer design for linear time-invariant systems. Systems and Control Letters, 2020, 141, ⟨10.1016/j.sysconle.2020.104707⟩. ⟨hal-02613378⟩