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Distributed state estimation for linear multi-agent systems with time-varying measurement topology
Viegas D.1; Batista P.1; Oliveira P.1,2; Silvestre C.1,3; Philip Chen C.L.4
2015
Source PublicationAutomatica
ISSN00051098
Volume54Pages:72-79
Abstract

This paper addresses the problem of distributed state estimation in formations of vehicles with time-varying measurement topology. One or more vehicles have access to measurements of their own state, while the rest must rely on measurements relative to other vehicles in the vicinity and limited communication to estimate their own state, and it is assumed that the vehicles may gain or lose access to some measurements over time. The proposed solution consists in the implementation of a local state observer on-board each vehicle, and the effects of changes in the measurement topology on the estimation error dynamics are studied resorting to switched systems theory. Sufficient conditions for exponential stability of the global estimation error dynamics are presented for two different switching laws. The results are applied to the practical case of a formation of Autonomous Underwater Vehicles (AUVs), and simulation results are presented that validate the proposed solution.

KeywordAutonomous Systems Decentralization Multi-agent Systems Navigation And Cooperative Navigation Techniques Underwater Vehicles
DOI10.1016/j.automatica.2015.01.036
URLView the original
Indexed BySCI
Language英语
WOS Research AreaAutomation & Control Systems ; Engineering
WOS SubjectAutomation & Control Systems ; Engineering, Electrical & Electronic
WOS IDWOS:000353092100011
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Citation statistics
Cited Times [WOS]:20   [WOS Record]     [Related Records in WOS]
Document TypeJournal article
CollectionDEPARTMENT OF ELECTRICAL AND COMPUTER ENGINEERING
Affiliation1.Inst Super Tecn, Inst Syst & Robot, P-1049001 Lisbon, Portugal
2.Univ Lisbon, Inst Super Tecn, Dept Mech Engn, P-1699 Lisbon, Portugal
3.Univ Macau, Fac Sci & Technol, Dept Elect & Comp Engn, Taipa, Peoples R China
4.Univ Macau, Fac Sci & Technol, Dept Comp & Informat Sci, Taipa, Peoples R China
Recommended Citation
GB/T 7714
Viegas D.,Batista P.,Oliveira P.,et al. Distributed state estimation for linear multi-agent systems with time-varying measurement topology[J]. Automatica,2015,54:72-79.
APA Viegas D.,Batista P.,Oliveira P.,Silvestre C.,&Philip Chen C.L..(2015).Distributed state estimation for linear multi-agent systems with time-varying measurement topology.Automatica,54,72-79.
MLA Viegas D.,et al."Distributed state estimation for linear multi-agent systems with time-varying measurement topology".Automatica 54(2015):72-79.
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