A Round-Robin Protocol for Distributed Estimation with $H_\infty$ Consensus

TL;DR

This paper introduces a round-robin communication protocol for distributed continuous-time observers, providing conditions that ensure robust $H_ abla$ consensus despite discrete sampling of network interactions.

Contribution

It proposes a novel round-robin protocol for distributed estimation with $H_ abla$ robustness guarantees in directed networks, bridging continuous measurements and discrete interactions.

Findings

Provides sufficient conditions for $H_ abla$ consensus

Ensures robustness with sampled interconnections

Applicable to directed network topologies

Abstract

The paper considers a distributed robust estimation problem over a network with directed topology involving continuous time observers. While measurements are available to the observers continuously, the nodes interact according to a Round-Robin rule, at discrete time instances. The results of the paper are sufficient conditions which guarantee a suboptimal $H_\infty$ level of consensus between observers with sampled interconnections.