NDLI: Distributed cooperative adaptive state estimation and system identification for multi-agent systems

Content Provider	IET Digital Library
Author	Stegagno, Paolo Yuan, Chengzhi
Abstract	In this study, the authors address the problem of composite cooperative state estimation and system identification for linear multi-agent systems (MASs) under the leader–follower framework. This problem specifies an objective for each follower agent to estimate its local plant state and identify its plant dynamics simultaneously through interacting and communicating with its neighbours. A novel distributed adaptive estimation and identification protocol is proposed, which possesses five important properties to improve existing cooperative approaches: (i) it deals with general linear MASs with a completely unknown agent dynamics, allowing dynamics heterogeneity between the leader and the followers; (ii) it enables simultaneous exact state estimation and accurate system identification of MASs with guaranteed exponential convergence performance; (iii) it utilises only relative measurements from neighbouring agents, but without requiring any knowledge of absolute local plant states/outputs; (iv) it is fully distributed in the sense that its design and implementation do not involve any global information, including the overall network connectivity and the leader's dynamics; (v) exact system identification can be achieved under a cooperative persistent excitation (PE) condition, which significantly relaxes the classical PE condition. Simulation studies have been conducted to demonstrate the effectiveness of the proposed approach.
Starting Page	815
Ending Page	822
Page Count	8
ISSN	17518644
Volume Number	13
e-ISSN	17518652
Issue Number	Issue 6, Apr (2019)
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/iet-cta/13/6
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/10.1049/iet-cta.2018.6113
Journal	IET Control Theory & Applications
Publisher Date	2019-02-14
Access Restriction	Open
Rights Holder	© The Institution of Engineering and Technology
Subject Keyword	Absolute Local Plant States/outputs Accurate System Identification Adaptive Control Adaptive Estimation Combinatorial Mathematics Completely Unknown Agent Dynamics Composite Cooperative State Estimation Continuous Time System Distributed Control Exact System Identification Follower Agent Followers General Linear MASs Identification Protocol Leader–follower Framework Linear Multiagent System Local Plant State Multi-agent System Multi-robot System Multivariable Control System Neighbouring Agent Plant Dynamics Self Adjusting Control System Simultaneous Exact State Estimation Stability in Control Theory State Estimation
Content Type	Text
Resource Type	Article
Subject	Control and Optimization Control and Systems Engineering Human-Computer Interaction Electrical and Electronic Engineering Computer Science Applications

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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