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Consensus‐based unscented Kalman filtering over sensor networks with communication protocols
Author(s) -
Sheng Li,
Huai Wuxiang,
Niu Yichun,
Gao Ming
Publication year - 2021
Publication title -
international journal of robust and nonlinear control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.361
H-Index - 106
eISSN - 1099-1239
pISSN - 1049-8923
DOI - 10.1002/rnc.5614
Subject(s) - kalman filter , computer science , protocol (science) , schedule , fast kalman filter , nonlinear system , wireless sensor network , extended kalman filter , communications protocol , control theory (sociology) , transmission (telecommunications) , algorithm , computer network , artificial intelligence , telecommunications , control (management) , medicine , physics , alternative medicine , pathology , quantum mechanics , operating system
This article is concerned with the consensus‐based distributed filtering problem for a class of general nonlinear systems over sensor networks with communication protocols. In order to avoid data collisions, the stochastic protocol and the Round‐Robin protocol are respectively introduced to schedule the data transmission between each node and its neighboring ones. A consensus‐based unscented Kalman filtering (UKF) algorithm is developed for the purpose of estimating the system states over sensor networks subject to communication protocols. Moreover, the exponential boundedness of estimation error in mean square is proved for the proposed algorithm. Finally, compared with the extended Kalman filtering, an experimental simulation example is provided to validate the effectiveness of the consensus‐based UKF algorithm.