Stubborn state estimation for time-delay systems with relay communication network: The half-duplex case

Abstract

This article is focus on the ultimately bounded state estimation issue for time-delay systems with half-duplex (HD) relay communication network. To enhance the quality of long-distance signal transmission, an HD relay-aided scheme is deployed to forward the transmitted signals between sensors and the remote state estimator, where the forwarded signals are generated based on the filter-and-forward protocol. Considering the impacts of the potential measurement outliers on the estimation accuracy, a so-called stubborn state estimator is constructed by adopting an adaptive innovation-saturation-based mechanism. To ensure satisfactory relaying performance for the forwarded signals, sufficient conditions are derived for the design of the relaying parameters by solving certain linear matrix inequalities. Subsequently, the ultimate boundedness of the resultant state estimation error is analyzed. And in terms of resolving a constrained optimization problem, the desired parameter of the remote estimator is derived. Finally, a numerical example is provided to demonstrate the efficacy of developed HD relay-aid strategy and stubborn state estimation scheme.