Distributed and Decentralized State Estimation of Fractional Order Systems

This paper is about the decentralization and distribution of a Kalman filter for fractional order systems. A fractional order discrete state space is introduced for a global system and divided into different submodules. The distribution of the model and of the state estimation algorithm leads to small and scalable units, which do not need a central processing node. Each submodule performs its computation locally. All information required by other nodes is directly communicated between the nodes. Finally, an example is given to compare the Fractional Kalman Filter (FKF) for the overall system with the Distributed and Decentralized Fractional Kalman Filter (DDFKF).