AIChE Journal, Vol.62, No.12, 4321-4333, 2016
Communication delays and data losses in distributed adaptive high-gain EKF
In this work, we consider distributed adaptive high-gain extended Kalman filtering for nonlinear systems subject to data losses and delays in communications. Specifically, we consider a class of nonlinear systems that consist of several subsystems interacting with each other via their states. A local adaptive high-gain extended Kalman filter is designed for each subsystem and the distributed estimators communicate to exchange the information. Each subsystem estimator takes the advantage of a predictor accounting for the delays and data losses simultaneously. The predictor of each subsystem is used to generate state predictions of interacting subsystems for interaction compensation. To get a reliable prediction, the predictors are designed based on a prediction-update algorithm. The convergence of the proposed distributed state estimation is ensured under sufficient conditions handling communication delays and data losses. Finally, a chemical process example is used to evaluate the applicability and effectiveness of the proposed design. (c) 2016 American Institute of Chemical Engineers AIChE J, 62: 4321-4333, 2016