Distributed observers with time-varying delays

Haik Silm*, Rosane Ushirobira, Denis Efimov, Emilia Fridman, Jean Pierre Richard, Wim Michiels

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review


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 communication between the observer nodes is modeled by the time-delay approach where variable sampling intervals, transmission delays, and packet dropouts are taken into account. An LMI for the design of the observer gains is derived using Halanay's inequality, the feasibility of which guarantees exponential stability with a selected convergence rate up to a maximum total delay. A comparison of the maximal delay on a numerical example shows the advantage of a distributed observer over a centralized one.

Original languageEnglish
Pages (from-to)5354-5361
Number of pages8
JournalIEEE Transactions on Automatic Control
Issue number11
StatePublished - 1 Nov 2021


FundersFunder number
Horizon 2020 Framework Programme675080


    • Distributed estimation problem
    • networked control systems
    • time-varying delay


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