Distributed and Decentralized State Estimation of Fractional Order Systems

This paper is about the decentralization and distribution of a Kalman filter for fractional order systems. A fractional order discrete state space for a global system is introduced and divided into different submodules. The distribution
of the model and of the state estimation algorithm into submodules leads to small and scalable units, which do not
need a central processing node. Each submodule performs its computation locally. All information required by other nodes is communicated between the nodes directly. Finally, an example is given to compare the fractional Kalman filter (FKF) for the overall system with the distributed and decentralized fractional Kalman filter (DDFKF).