Cooperative Exact State Estimation of Linear Multi-Agent Systems with Heterogeneous Bounded Disturbances
Chengzhi Yuan, Wei Jun Zeng, Paolo Stegagno · 2019
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 neighbors. Because of the existence of external disturbances, the problem is challenging especially when stringent exact estimation performance is desired. To this end, a nonlinear discontinuous cooperative estimation protocol is proposed. The overall network stability and convergence properties are analyzed using the Lyapunov function method. A simulation example has also been used to demonstrate the effectiveness of the proposed results.