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Distributed and Decentralized Kalman Filtering for Cascaded Fractional Order Systems

Kupper, Martin; Gil, Inigo Sesar; Hohmann, Sören

Abstract:
This paper presents a distributed Kalman filter algorithm for cascaded systems of fractional order. Certain conditions are introduced under which a division of a fractional system into cascaded subsystems is possible. A functional distribution of a large scale system and of the state estimation algorithm leads to smaller and scalable nodes with reduced memory and computational effort. Since each subsystem performs its calculations locally, a central processing node is not needed. All data which are required by subsequent nodes are communicated to them unidirectionally. Also a comparison between the Fractional Kalman Filter (FKF) and the Cascaded Fractional Kalman Filter (CFKF) is given by an example.


Zugehörige Institution(en) am KIT Institut für Regelungs- und Steuerungssysteme (IRS)
Publikationstyp Proceedingsbeitrag
Jahr 2017
Sprache Englisch
Identifikator DOI: 10.23919/ACC.2017.7963766
ISBN: 978-1-5090-5992-8
URN: urn:nbn:de:swb:90-717101
KITopen ID: 1000071710
Erschienen in Proceedings of the 2017 American Control Conference (ACC), Seattle, Washington, USA, 24th - 26th May 2017
Verlag IEEE, Piscataway (NJ)
Seiten 5223-5230
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