Distributed Hybrid Observer With Prescribed Convergence Rate for a Linear Plant Using Multi-Hop Decomposition

TL;DR

This paper introduces a distributed hybrid observer for sensor networks that guarantees exponential convergence despite disturbances and noise, using multihop decomposition and sampled-data communication.

Contribution

It presents a novel continuous-time multihop decomposition-based distributed hybrid observer with prescribed convergence rate for linear plants.

Findings

Guarantees exponential ISS with prescribed rate

Handles process and measurement noise effectively

Validated through simulations

Abstract

With a continuous-time formulation of the multihop decomposition, we propose a distributed hybrid observer for a sensor network where the plant and local observers run in continuous time and the information exchange among the sensing nodes is sampled-data. Process disturbances, measurement noise and communication noise are considered, and we prove that under some necessary detectability assumptions the observer gains can be tuned to guarantee exponential ISS with a prescribeda convergence rate. Simulations illustrate the performance of the proposed observer.