Strict-Lyapunov-Function-Based Design of Distributed Estimators for Consensus on Directed Circular Graphs: An Application to UAVs
Cristiano Maria Verrelli, Patrizio Tomei, Mohamed El Arayshi, Ali Youssef, D. M. K. K. Venkateswara Rao, Hamed Habibi, Holger Voos · IEEE Control Systems Letters · 2025
In this letter, a solution to a general distributed identification problem on a directed circular communication graph is proposed. The original use of a new strict Lyapunov function within a persistently excited framework is crucial to prove the consensus achievement for an asymmetric neighbourhood-based decentralized parallel architecture, for which the communication burden is reduced, when compared to the case of symmetrical communication between the neighbours. Experimental results regarding quadrotor UAVs illustrate the theoretical derivations.