Distributed State Estimation Over Time-Varying Graphs: Exploiting the Age-of-Information

Mitra, Aritra; Richards, John A.; Bagchi, Saurabh; Sundaram, Shreyas

doi:10.1109/tac.2021.3130882

Distributed State Estimation Over Time-Varying Graphs: Exploiting the Age-of-Information

Journal Article · Wed Nov 24 23:00:00 EST 2021 · IEEE Transactions on Automatic Control

DOI:https://doi.org/10.1109/tac.2021.3130882· OSTI ID:1838179

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Purdue Univ., West Lafayette, IN (United States)
Sandia National Lab. (SNL-NM), Albuquerque, NM (United States)

Here, we study the problem of designing a distributed observer for an LTI system over a time-varying communication graph. The limited existing work on this topic imposes various restrictions either on the observation model or on the sequence of communication graphs. In contrast, we propose a single-time-scale distributed observer that works under mild assumptions. Specifically, our communication model only requires strong-connectivity to be preserved over non-overlapping, contiguous intervals that are even allowed to grow unbounded over time. We show that under suitable conditions that bound the growth of such intervals, joint observability is sufficient to track the state of any discrete-time LTI system exponentially fast, at any desired rate. We also develop a variant of our algorithm that is provably robust to worst-case adversarial attacks, provided the sequence of graphs is sufficiently connected over time. The key to our approach is the notion of a "freshness-index" that keeps track of the age-of-information being diffused across the network. Such indices enable nodes to reject stale estimates of the state, and, in turn, contribute to stability of the error dynamics.

View Accepted Manuscript (DOE)

Research Organization:: Sandia National Laboratories (SNL-NM), Albuquerque, NM (United States)

Sponsoring Organization:: USDOE National Nuclear Security Administration (NNSA); National Science Foundation (NSF)

Grant/Contract Number:: NA0003525

OSTI ID:: 1838179

Report Number(s):: SAND--2020-0934J; 683201

Journal Information:: IEEE Transactions on Automatic Control, Journal Name: IEEE Transactions on Automatic Control Journal Issue: 12 Vol. 67; ISSN 0018-9286

Publisher:: IEEECopyright Statement

Country of Publication:: United States

Language:: English

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