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Inicio Revista Iberoamericana de Automática e Informática Industrial RIAI Observadores Distribuidos Garantistas para Sistemas en Red
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Vol. 14. Núm. 3.
Páginas 256-267 (Julio - Septiembre 2017)
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Vol. 14. Núm. 3.
Páginas 256-267 (Julio - Septiembre 2017)
DOI: 10.1016/j.riai.2017.05.003
Open Access
Observadores Distribuidos Garantistas para Sistemas en Red
Guaranteed Distributed Observers for Networked Systems
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Ramón A. Garcíaa,
Autor para correspondencia
ramongr@us.es

Autor para correspondencia.
, Francisco R. Rubioa, Luis Orihuelab, Pablo Millánb, Manuel G. Ortegaa
a Departamento de Ingeniería de Sistemas y Automática, Universidad de Sevilla, Sevilla, España
b Departamento de Ingeniería, Universidad Loyola Andalucía, Sevilla, España
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Resumen

En este artículo se propone un observador distribuido garantista para sistemas en red, considerando de forma explícita el problema de los retardos variables en las comunicaciones. Se asume que la información intercambiada entre agentes llega siempre a su destino, si bien las comunicaciones están sujetas a retardos variables, cuyo valor máximo se supone conocido. Cada observador trabaja con información parcial, y necesita comunicarse con observadores vecinos para llevar a cabo una estimación del estado completo del sistema. Para representar a los conjuntos garantistas, cuya función es acotar en tiempo real la región en la que se encuentra el estado del sistema, se ha optado por la utilización de zonotopos. Esto permite integrar de forma sencilla la información recibida por cada agente. Finalmente se presentan resultados de simulación para validar el algoritmo propuesto.

Palabras clave:
Estimación Distribuida
Observadores de Estado
Sistemas con Retardos
Sistemas en red
Zonotopos
Abstract

This paper proposes a guaranteed distributed observer for networked systems, taking into account the problem of the variable delays in communications. We assume that the information exchanged among the agents always arrives to its destination, although the communication are subject to variable delays, whose maximum value is known. Each observer works with partial information, and needs to communicate with neighbouring observers to carry out an estimation of the complete state of the system. The guaranteed sets, whose function is to delimit in real time the region in which the state of the system belong to, are represented by zonotopes. This kind of sets allows a simple integration of the information received by each agent. Finally some results obtained with the proposed algorithm are shown in simulations.

Keywords:
Distributed Estimation
State Observers
Delays Systems
Networked systems
Zonotopes
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