A design of a distributed observer is proposed for continuous-time systems with nonlinear observer nodes such that the estimation errors converge in a finite time to zero. By taking advantage of individual observability decompositions, the designs for the locally observable and the unobservable substate are made independent from each other. For the observable substate of each node, standard centralized finite-time observer techniques are applied. To estimate distributively the unobservable substate, the observer nodes employ consensus coupling in a linear term and an additional term embedded in a fractional power. The approach is derived using homogeneity arguments and it leads to a simple design with an LMI that is guaranteed to be feasible under general conditions.

中文翻译：

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线性时不变系统的简单有限时间分布式观测器设计

为具有非线性观测器节点的连续时间系统提出了分布式观测器的设计，使得估计误差在有限时间内收敛到零。通过利用单独的可观察性分解，局部可观察和不可观察子状态的设计彼此独立。对于每个节点的可观察子状态，应用了标准的集中式有限时间观察器技术。为了分布式地估计不可观察的子状态，观察者节点采用线性项中的共识耦合和嵌入在分数幂中的附加项。该方法是使用同质性参数推导出来的，它导致具有 LMI 的简单设计，保证在一般条件下可行。