Decentralized estimation and control for multisensor systems. (English) Zbl 0966.93007

Mutambara, Arthur G. O.

Boca Raton, FL: CRC Press. 230 p. (1998).

This book is on decentralized estimation and decentralized control in the sense of the LQG control. Nonlinearities are linearized and one uses the extended Kalman filter. Full connectedness is not necessarily required. This is done by using transformations in the (information, state) space. Implementation in the case of a wheeled mobile robot and simulations are included at the end.
There are 127 references and an index.

Reviewer: A.Akutowicz (Berlin)

MSC:

93-02	Research exposition (monographs, survey articles) pertaining to systems and control theory
93A14	Decentralized systems
93E10	Estimation and detection in stochastic control theory
93E20	Optimal stochastic control
93B18	Linearizations
93B17	Transformations
93C85	Automated systems (robots, etc.) in control theory

Keywords:

decentralized estimation; decentralized control; LQG control; extended Kalman filter; connectedness; transformations; wheeled mobile robot