TY - JOUR
T1 - Multi-rate stochastic H∞ filtering for networked multi-sensor fusion
AU - Liang, Yan
AU - Chen, Tongwen
AU - Pan, Quan
PY - 2010/2
Y1 - 2010/2
N2 - This paper presents a multi-rate filtering problem for a class of networked multi-sensor fusion systems with packet dropouts (PDs): the state evolves according to a linear discrete-time model with norm-bounded unknown inputs (UIs), and its underlying period is h; the p sensors are distributively deployed with different sampling periods n1 h, ..., np h; multi-rate sensor measurements, corrupted by UIs, are subject to stochastic PDs in the transmission to a fusion center for state estimation; the estimation is updated at the period m h. Different from the single-rate estimator design with PDs which are treated as stochastic parameters, a UI observer is proposed where PDs are represented as zero-mean white input noises of the linear time-variant estimation error system. The results on the existence of a stable observer are proposed. Due to insufficient design freedom for absolute error decoupling, we turn to designing an observer-based stochastic H∞ filter. A numerical example of distributive multi-sensor target tracking is given to illustrate the proposed filter.
AB - This paper presents a multi-rate filtering problem for a class of networked multi-sensor fusion systems with packet dropouts (PDs): the state evolves according to a linear discrete-time model with norm-bounded unknown inputs (UIs), and its underlying period is h; the p sensors are distributively deployed with different sampling periods n1 h, ..., np h; multi-rate sensor measurements, corrupted by UIs, are subject to stochastic PDs in the transmission to a fusion center for state estimation; the estimation is updated at the period m h. Different from the single-rate estimator design with PDs which are treated as stochastic parameters, a UI observer is proposed where PDs are represented as zero-mean white input noises of the linear time-variant estimation error system. The results on the existence of a stable observer are proposed. Due to insufficient design freedom for absolute error decoupling, we turn to designing an observer-based stochastic H∞ filter. A numerical example of distributive multi-sensor target tracking is given to illustrate the proposed filter.
KW - H filtering
KW - Multi-rate systems
KW - Multi-sensor fusion
KW - Networked control systems
KW - Unknown input observers
UR - http://www.scopus.com/inward/record.url?scp=74149086420&partnerID=8YFLogxK
U2 - 10.1016/j.automatica.2009.11.019
DO - 10.1016/j.automatica.2009.11.019
M3 - 文章
AN - SCOPUS:74149086420
SN - 0005-1098
VL - 46
SP - 437
EP - 444
JO - Automatica
JF - Automatica
IS - 2
ER -