Fully Distributed Adaptive State Estimation and Consensus Control of Multi-agent Systems: A Reduced-order Observer-based Approach

被引：0

作者：

Huang, Jiazhu ^{[1
,3
]}

Li, Yan ^{[1
]}

Lv, Yuezu ^{[2
]}

Zhou, Jialing ^{[2
]}

机构：

[1] Beijing Inst Technol, Sch Automat, Beijing 100081, Peoples R China

[2] Beijing Inst Technol, MIIT Key Lab Complex Field Intelligent Sensing, Beijing 100081, Peoples R China

[3] Beijing Inst Technol, MIIT Key Lab Complex Field Intelligent Sensing, Yangtze Delta Reg Acad, Jiaxing 314003, Peoples R China

来源：

2024 3RD CONFERENCE ON FULLY ACTUATED SYSTEM THEORY AND APPLICATIONS, FASTA 2024 | 2024年

基金：

中国国家自然科学基金; 中国博士后科学基金;

关键词：

Multi-agent systems; reduced-order state observer; adaptive output tracking; consensus control; KALMAN FILTER;

D O I：

10.1109/FASTA61401.2024.10595343

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper focuses on the integrated design of adaptive state estimation and consensus control for multi-agent systems. To improve the consensus performance of the multi-agent systems in the presence of some agents' sensor failures, the cooperative state estimation model is introduced, and fully distributed adaptive output tracking estimators and reduced-order state observers are designed based on this model. The consensus control protocol, relying on only the self-estimated states, is proposed and enables the achievement of consensus of the multi-agent system under directed graphs. The effectiveness of the algorithm is theoretically analyzed and validated through simulation.

引用

页码：432 / 437

页数：6

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