Adaptive distributed observer for an uncertain leader with an unknown output over directed acyclic graphs

Abstract

ABSTRACT Recently, we developed an adaptive distributed observer for a class of uncertain leader systems over undirected connected graphs. This adaptive distributed observer can not only exponentially estimate the leader's state, but also the unknown parameters of the system matrix of the leader. In this paper, we further study the same problem over directed graphs. It is shown that, the same adaptive distributed observer as the one in our previous paper also works for a directed graph if the graph is acyclic and connected. We further show that the unknown output matrix of the leader system can also be estimated exponentially by a distributed dynamic compensator.