Finite-Time Robust Cooperative Distributed Estimate with Sensor Network

This paper considers the cooperative estimation problem for nonlinear system based on the wireless sensor network with finite-time consensus fusion. In order to reduce the communication and computation burden, the event-triggered mechanism is introduced in the local filtering process. In light of the consensus method, the cooperative estimate algorithm can be summarized as two stages, namely, local estimation and consensus fusion. During local estimation stage, an improved maneuvering model is introduced to describe the movement characteristics of maneuvering target. The final estimation results are calculated by each local estimate results obtained from the local update stage. Moreover, considering the fusion time is finite in practical application, the event-triggered finite-time distributed estimation algorithm is proposed. Besides, the stability of the proposed algorithm is analyzed with jointly observability. Finally, simulation and equivalent experiment results are given to validate the results.