A moving horizon scheme for distributed state estimation

This paper presents a novel distributed estimation algorithm based on the concept of moving horizon estimation. Under weak observability conditions we prove convergence of the state estimates computed by any sensor to the correct state even when constraints on noise and state variables are taken into account in the estimation process. Simulation examples are provided in order to show the main features of the proposed method.


    • EPFL-REPORT-224198

    Record created on 2017-01-10, modified on 2017-05-10


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