Distributed H2/H∞ Filtering for Hybrid Wired-wireless Networked Systems with Network-induced Delays and Packet Losses Constraints
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摘要: 针对分布式有线无线异构网络化滤波系统中部署在不同地理空间的多传感器通过无线网络与每个局部融合中心通信, 然后测量数据被传到网关并进行协议转换后通过有线网络传输到对应的分布式滤波器, 会导致数据传输出现分布式有线无线网络诱导延时和数据丢包, 使得H2/H∞滤波更加困难的问题, 本文首先采用有向图描述分布式传感器节点的通信拓扑, 然后运用Markov链和伯努利分布分别刻画分布式有线无线网络诱导延时和数据丢包特性, 进而建立了融合分布式滤波器参数、有线无线异构网络通信约束的普适滤波误差动态系统综合模型.理论上证明了在分布式有线无线异构网络通信约束下所设计的滤波器使得滤波误差动态系统随机稳定且满足给定的H2/H∞性能指标, 并建立了系统随机稳定性、分布式滤波器参数及最长有线无线网络诱导延时和数据丢包之间的关系.最后, 仿真实例验证了本文所提方法是可行且有效.
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关键词:
- 有线无线异构网络 /
- 网络诱导延时 /
- 数据丢包 /
- 分布式H2/H∞滤波 /
- 随机稳定
Abstract: In distributed hybrid wired-wireless networked filtering systems, distributed sensors communicate with local fusion centers through the wireless network. The measured signals from sensors are then transmitted to gateways where they are converted to the corresponding wired network format, which are further transmitted to the filters through the wired network. This might suffer from distributed network-induced delays and packet losses of hybrid wired-wireless networks, making H2/H∞ filtering more difficult. To solve these problems, directed graph is firstly used to describe the communication topology of distributed sensor nodes, and different Markov chains and Bernoulli processes are employed to describe the characters of distributed network-induced delays and packet losses of hybrid wired-wireless networks, respectively. A general filtering error dynamic system model containing distributed filtering parameters and communication constraints of hybrid wired-wireless networks is then proposed. The designed filters enable the filtering error dynamic system to be stochastically stable and to achieve a prescribed H2/H∞ performance, and the relationships among the stochastic stability criteria, distributed filter parameters, maximum network-induced delays and packet losses of hybrid wired-wireless networks are further established. Finally, simulation results confirm the feasibility and effectiveness of the proposed method. -
图 1 分布式有线无线异构网络化 ${H_2}/{H_\infty }$ 滤波示意图
Fig. 1 Distributed ${H_2}/{H_\infty }$ filtering for hybridwired-wireless networked systems
图 2 传感器到局部融合中心J的通信拓扑示意图
Fig. 2 Communication topology from sensors to local fusioncenter J
图 4 k时刻信号在有线无线异构网络的传输时序图
Fig. 4 Timing diagram of signal through hybridwired-wireless networks at the $k{\rm th}$ instant
图 5 传感器与局部融合中心通信拓扑示意图 (N=2)
Fig. 5 The communication topology from sensors to localfusion centers (N=2)
图 6 网络状态图 (值1到8分别代表模态1到模态8)
Fig. 6 Networked state (Numerical values 1 to 8 represent Mode1 to 8.)
图 7 被调输出和两个不同滤波器的估计输出
Fig. 7 The controlled output and estimated outputs of twodifferent filters
表 1 最优扰动衰减性能指标对比
Table 1 Comparison of the minimum noise attenuation level
有线无线异构网络数据丢包率 (α, β) 最优扰动衰减性能指标 (γ*) α=0.2, β=0.3 4.5911E-005 α=0.6, β=0.3 4.3237E-005 α=0.2, β=0.7 4.6150E-005 α=0.6, β=0.7 4.3381E-005 
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表 2 不同模态下两个滤波器的 ${H_2}/{H_\infty }$ 性能指标
Table 2 The ${H_2}/{H_\infty }$ noise attenuation level underdifferent models in two filters
h1(%) h2(%) h3(%) h4(%) h5(%) h6(%) h7(%) h8(%) 滤波器1的H2/H∞性能指标 (γ) 滤波器2的H2/H∞性能指标 (γ) 18 8 10 10 18 7 11 18 5.9365E-07 5.9372E-07 17 10 8 16 15 11 9 14 5.7665E-07 5.7662E-07 17 10 8 12 13 14 11 15 5.2931E-07 5.2702E-07
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