Cooperative Estimation for Synchronization of Heterogeneous Multi-Agent Systems Using Relative Information
Abstract
In this paper, we present a distributed estimation setup where local agents estimate their states from relative measurements received from their neighbours. In the case of heterogeneous multi-agent systems, where only relative measurements are available, this is of high relevance. The objective is to improve the scalability of the existing distributed estimation algorithms by restricting the agents to estimating only their local states and those of immediate neighbours. The presented estimation algorithm also guarantees robust performance against model and measurement disturbances. It is shown that it can be integrated into output synchronization algorithms.
Cite
@article{arxiv.1512.02075,
title = {Cooperative Estimation for Synchronization of Heterogeneous Multi-Agent Systems Using Relative Information},
author = {Jingbo Wu and Valery Ugrinovskii and Frank Allgöwer},
journal= {arXiv preprint arXiv:1512.02075},
year = {2015}
}
Comments
The short version of this paper was published in Proc. IFAC World Congress, pp. 4662-4667, Cape Town, South Africa, 2014