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Consensus-based state estimation for multi-agent systems with constraint information

Chen Hu;  Weiwei Qin;  Zhenhua Li;  Bing He;  Gang Liu — 2017

Kybernetika

This paper considers a distributed state estimation problem for multi-agent systems under state inequality constraints. We first give a distributed estimation algorithm by projecting the consensus estimate with help of the consensus-based Kalman filter (CKF) and projection on the surface of constraints. The consensus step performs not only on the state estimation but also on the error covariance obtained by each agent. Under collective observability and connective assumptions, we show that consensus...

Distributed H ∞ estimation for moving target under switching multi-agent network

Hu Chen;  Qin Weiwei;  He Bing;  Liu Gang — 2015

Kybernetika

In this paper, the distributed H ∞ estimation problem is investigated for a moving target with local communication and switching topology. Based on the solution of the algebraic Riccati equation, a recursive algorithm is proposed using constant gain. The stability of the proposed algorithm is analysed by using the Lyapounov method, and a lower bound for estimation errors is obtained for the proposed common H ∞ filter. Moreover, a bound for the H ∞ parameter is obtained by means of the solution of the...

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