Convergence Analysis on Asynchronous Distributed Cooperative Full-State Observers with Broadcast Gossip Algorithm

The distributed cooperative full-state observer estimates the state of a system based on local estimations via local sensors and information exchange among local estimators. An asynchronously distributed cooperative full-state observer is proposed based on a broadcast gossip algorithm, which randomly selects communication time and communication nodes. Convergence on the first and second moments of estimation error is analyzed, and it is shown that there always exists an appropriate communication setting for convergence.