Distributed Non-Fragile State Estimation for discrete nonlinear systems with parameter uncertainties

The distributed non-fragile state estimation problem is proposed for a class of discrete nonlinear systems with parameter uncertainties. Considering the parameter uncertainty of the system and the stochastic disturbance of the corresponding filter gain, a distributed non-fragile recursive state estimator is designed. Based on the strategy of linear consensus, a distributed non-fragile recursive filter is derived for each sensor node. Due to some uncertain parameters of the system, the upper bound of the filter error covariance is further derived. Then, the filter gain is obtained by minimizing the upper bound of the error covariance. Finally, an indoor localization system for mobile robots is provided to verify the proposed state estimator.