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
收藏
页码：432 / 437
页数：6
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