Abstract
The early results on the adaptive distributed observer for uncertain leader systems have three limitations. The adaptive distributed observer is state-based, the communications among the follower subsystems are undirected, and the communication network is static. Despite years of efforts, these issues have not been fully addressed. In this article, we develop an output-based adaptive distributed observer for a class of uncertain linear leader systems over jointly connected switching networks. Our design consists of two steps. First, we develop an exponentially convergent estimator to estimate both the state and the unknown parameter vector of the leader system. Second, we design a state-based adaptive distributed observer for the exponentially convergent estimator over jointly connected switching networks. It turns out that such a two-step design overcomes all the three obstacles. As an application, we solve the cooperative output regulation problem for linear multiagent systems subject to an uncertain leader system.
| Original language | English |
|---|---|
| Pages (from-to) | 7340-7355 |
| Number of pages | 16 |
| Journal | IEEE Transactions on Automatic Control |
| Volume | 69 |
| Issue number | 11 |
| Early online date | 12 Apr 2024 |
| DOIs | |
| Publication status | Published - Nov 2024 |
| Externally published | Yes |
Bibliographical note
Publisher Copyright:© 1963-2012 IEEE.
Funding
This work was supported in part by the Shenzhen Key Laboratory of Control Theory and Intelligent Systems under Grant ZDSYS20220330161800001, in part by the National Natural Science Foundation of China under Grant 63203207 and Grant 62350055, and in part by the Research Grants Council of the Hong Kong Special Administrative Region under Grant 14201621.
Keywords
- Adaptive distributed observer (ADO)
- agents and autonomous systems
- cooperative control
- parameter estimation
- switching graphs