Cooperative state estimation of multi-agent systems subject to bounded external disturbances

Document Type

Article

Date of Original Version

7-4-2018

Abstract

This paper deals with the problem of cooperative state estimation of general linear multi-agent systems subject to heterogeneous bounded external disturbances. This problem specifies the objective that each agent estimates its own state by using only relative information from its neighbours. Because of the existence of external disturbances, the problem is challenging especially when stringent exact estimation performance is desired. To this end, two cooperative estimation protocols are proposed, including the discontinuous nonlinear protocol for exact state estimation and the continuous nonlinear protocol for estimation with bounded errors. The overall network stability and convergence properties are analysed using the Lyapunov function method. A simulation example has also been used to demonstrate the effectiveness of the proposed results.

Publication Title, e.g., Journal

International Journal of Systems Science

Volume

49

Issue

9

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