Publication Date:
2015
Short description:
Decentralized state estimation for heterogeneous multi-agent systems / Boem, Francesca; Sabattini, Lorenzo; Secchi, Cristian. - 2016-:(2015), pp. 4121-4126. ( 54th IEEE Conference on Decision and Control, CDC 2015 Osaka International Convention Center (Grand Cube), 5-3-51 Nakanoshima, Kita-Ku, jpn 2015) [10.1109/CDC.2015.7402861].
abstract:
The paper proposes a decentralized state estimation method for the control of multi-agent networked systems, where the goal is the tracking of arbitrary setpoint functions. The cooperative agents are partitioned into independent robots, providing the control inputs, and dependent robots, controlled by local interaction laws. The proposed state estimation algorithm allows the independent robots to estimate the state of the dependent robots in a completely decentralized way. To do that, it is necessary for each independent robot to estimate the control input components computed by the other independent robots, without requiring communication among the independent robots. The decentralized state estimator, including an input estimator, is developed and the convergence properties are studied. Simulation results show the effectiveness of the proposed approach.
Iris type:
Relazione in Atti di Convegno
Keywords:
Control and Systems Engineering; Modeling and Simulation; Control and Optimization
List of contributors:
Boem, Francesca; Sabattini, Lorenzo; Secchi, Cristian
Book title:
Proceedings of the IEEE Conference on Decision and Control
Published in: