Scalable consensus filtering for uncertain systems over sensor networks with Round-Robin protocol

This article is concerned with the scalable distributed H_∞-consensus filtering problem for a class of discrete time-varying systems over sensor networks with the Round-Robin protocol (RRP). The challenge comes from the fact that the time-varying parameters of the network are subject to randomly occurring norm-bounded uncertainties and the measurement outputs of the sensor nodes are saturated due to the sector nonlinearities. For preventing data collisions and saving energy, the RRP determines which neighboring node can access the shared network for information transmission at each time step. An H_∞ performance index is proposed to characterize the disturbance attenuation level of the resulting filtering error dynamics. By stochastic analysis in combination with the recursive matrix inequality approach, a distributed filtering algorithm is developed for each individual sensor node to ensure the prespecified estimation performance. Finally, an illustrative simulation example is shown to verify the effectiveness and applicability of the theoretical results.