Distributed Observers With Time-Varying Delays

The distributed estimation problem is solved for continuous-time observer nodes that obtain real-time measurements but communicate with their neighbors over a communication network. To this end, the digital between modeled by time-delay approach where variable sampling intervals, transmission delays, and packet dropouts are taken into account. An LMI design of gains derived using Halanay's inequality, feasibility which guarantees exponential stability selected convergence rate up to maximum total delay. A comparison maximal delay on numerical example shows advantage centralized one.