Distributed Entire State Estimation and Consensus Control for Lipschitz Nonlinear Multi-Agent Systems
Yan Li, Jiazhu Huang, Yuezu Lv, Jialing Zhou · 2024
In this paper, a novel integrated framework for distributed state estimation and consensus control is constructed for a class of Lipschitz nonlinear multi-agent systems under strongly connected graphs. The distributed output tracking algorithm and local observers are introduced to estimate the overall output and global state, respectively. Furthermore, a consensus control protocol is designed based on each agent’s own entire state estimation to ensure that all agents can realize consensus. The exponential stability of the estimation error is obtained by utilizing the Lyapunov stability theory. Moreover, the proposed algorithm is still effective even in the presence of measurement output failures. Finally, numerical simulation is worked out to testify the feasibility of the proposed method.