Distributed Cooperative Full-State Observers with Tunable Information Exchange Interval for Discrete-time Linear Systems

Abstract

In this paper, a distributed cooperative full-state observer is considered for discrete-time linear systems, where it utilizes a consensus mechanism which enables local observers to exchange their estimates in an appropriate interval. The behavior of its estimation error is derived and a necessary and sufficient condition such that the error asymptotically converges to zero is presented. The selection of appropriate gains of the observer is also investigated. Then it is shown that there exists an information exchange interval such that the estimation error asymptotically converges to zero if the overall system is detectable and the structure of information exchange graph between the local observers is connected and undirected. A numerical example is presented that the proposed method shows the desired behavior.