Pathology

Computer network

Mathematics

Outlier

Algorithm

Statistics

Filter (signal processing)

Network packet

Mathematical analysis

Artificial intelligence

Filter design

Covariance

Control (management)

Covariance matrix

Alternative medicine

Protocol (science)

Computer science

Computer vision

Control theory (sociology)

Recursive filter

Medicine

Anomaly detection

Transmission (telecommunications)

Telecommunications

Root-raised-cosine filter

Upper and lower bounds

IEEE Transactions on Cybernetics

In this article, a new outlier-resistant recursive filtering problem (RF) is studied for a class of multisensor multirate networked systems under the weighted try-once-discard (WTOD) protocol. The sensors are sampled with a period that is different from the state updating period of the system. In order to lighten the communication burden and alleviate the network congestions, the WTOD protocol is implemented in the sensor-to-filter channel to schedule the order of the data transmission of the sensors. In the case of the measurement outliers, a saturation function is employed in the filter structure to constrain the innovations contaminated by the measurement outliers, thereby maintaining satisfactory filtering performance. By resorting to the solution to a matrix difference equation, an upper bound is first obtained on the covariance of the filtering error, and the gain matrix of the filter is then characterized to minimize the derived upper bound. Furthermore, the exponential boundedness of the filtering error dynamics is analyzed in the mean square sense. Finally, the usefulness of the proposed outlier-resistant RF scheme is verified by simulation examples.

Outlier-Resistant Recursive Filtering for Multisensor Multirate Networked Systems Under Weighted Try-Once-Discard Protocol