Cooperative Estimation and Robust Synchronization of Heterogeneous Multiagent Systems With Coupled Measurements

Abstract

In this paper, we present a distributed estimation setup where autonomous agents estimate their states from coupled measurements, that is, measurements that depend on multiple agents. For instance, in the case of multiagent systems, where only relative measurements are available, this is of high relevance. This paper proposes a distributed observer design solution, which is scalable with respect to the number of agents. This distributed observer is then used for the design of a distributed observer-based output synchronization control algorithm. Robust performance against exogenous and measurement disturbances can be guaranteed for both the estimation error and synchronization error.