Distributed fusion filtering for cyber-physical systems under Round-Robin protocol: a mixed H₂/H_∞ framework

ABSTRACT

In this paper, the distributed mixed $H_2/H_{\mathrm{\infty }}$ fusion filter design problem is investigated for a class of cyber-physical systems subject to non-ideal measurements under Round-Robin protocol. To save the limited communication resources, the Round-Robin protocol is employed to schedule the data transmissions from the sensors to the remote filters. The measurement is imperfect by taking into account the noises, the random saturations, nonlinearity perturbations and packet dropouts. The objective of this study is to propose a desired fusion filtering method that ensures the prescribed performance constraints on both the local and fusion filtering error dynamics. With the aid of Lyapunov function and stochastic analysis technique, a sufficient condition is established to guarantee the mixed $H_2$/$H_{\mathrm{\infty }}$ performance index for the local filtering error systems, and then the filter parameter matrices are derived by resorting to the solutions to some matrix inequalities. Subsequently, on the basis of the obtained local state estimates, the proper fusion parameters are acquired by solving a convex optimisation problem. Finally, a numerical example is provided to demonstrate the effectiveness of the designed fusion filter.

KEYWORDS:

• Cyber-physical systems
• distributed fusion filtering
• mixed $H_2/H_{\mathrm{\infty }}$ performance
• non-ideal measurements
• Round-Robin protocol

Disclosure statement

No potential conflict of interest was reported by the author(s).

Data availability statement

Data sharing is not applicable to this article as no new data were created or analysed in this study.

Additional information

Funding

This work was supported partially by the National Natural Science Foundation of China under Grants 61973102 and U22A2044.

Notes on contributors

Yuhang Jin

Yuhang Jin was born in Anhui province, China, in 2000. He received the B.E. degree from Anhui Polytechnic University, Wuhu, China, in 2021. He is currently pursuing the M.S. degree in control science and engineering with Hangzhou Dianzi University, Hangzhou, China. His research interests include cyber-physical systems and fusion estimation.

Xiaosen Ma

Xiaosen Ma was born in Henan province, China, in 1996. He received the B.E. degree from Anyang Normal University, Anyang, China, in 2019. He is currently pursuing the M.S. degree in control science and engineering with Hangzhou Dianzi University, Hangzhou, China. His research interests include network systems and controller design.

Xueyang Meng

Xueyang Meng was born in Jiangsu, China, in 1995. He received the B.E. degree from the Luoyang Institute of Science and Technology, Luoyang, China, in 2017. He is currently pursuing the Ph.D. degree in control science and engineering with Hangzhou Dianzi University, Hangzhou, China. His research interests include networked control systems and state estimation.

Yun Chen

Yun Chen was born in Zhejiang Province, China. He received the B.E. degree in 1999 from Central South University of Technology (Central South University), Changsha, China, and the M.E. degree in 2002 and Ph.D. degree in 2008, both from Zhejiang University, Hangzhou, China. He is currently a Professor with School of Automation, Hangzhou Dianzi University, Hangzhou, China. His research interests include stochastic and hybrid systems, robust control and filtering.