Design of a Distributed Decentralized Estimator for a Formation with Fixed Communication Topology
Maxim V. Subbotin, Roy S. Smith · Proceedings of the ... American Control Conference/Proceedings of the American Control Conference · 2007
We propose a solution to the problem of synthesizing a distributed decentralized estimator for a formation of agents described with a discrete LTI system. In the considered estimation structure each agent of the formation carries an estimate of the entire formation state. Agents of the formation can communicate information between each other through unidirectional links specified with a fixed communication topology. The design procedure is based on a set of convex optimization problems with linear matrix inequalities.