Distributed multi-agent tracking and estimation with uncertain agent dynamics

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper addresses distributed target tracking and estimation using multiple mobile agents whose dynamics are subject to uncertainties and disturbances. A consensus-based distributed estimator is applied to estimate the motion of the target. To compensate for the uncertainties in the dynamics and prevent them from propagating into the communication network, a cascaded control structure is proposed, which uses the L1 adaptive controller to drive the real uncertain system to an ideal closed-loop system obtained from an existing flocking algorithm. Since the communication graph is induced by the position of the real agents, we cannot exactly implement the ideal flocking algorithm, which leads to coupling between the communication topology and the system dynamics. The guaranteed transient performance bounds of the L 1 adaptive controller are essential towards resolving this coupling issue. Extensive simulation results demonstrate the capability of the proposed algorithms to recover the desired flocking behavior.

Original languageEnglish (US)
Title of host publicationProceedings of the 2011 American Control Conference, ACC 2011
Pages2204-2209
Number of pages6
StatePublished - 2011
Event2011 American Control Conference, ACC 2011 - San Francisco, CA, United States
Duration: Jun 29 2011Jul 1 2011

Other

Other2011 American Control Conference, ACC 2011
CountryUnited States
CitySan Francisco, CA
Period6/29/117/1/11

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

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  • Cite this

    Li, Z., Hovakimyan, N., & Stipanovic, D. M. (2011). Distributed multi-agent tracking and estimation with uncertain agent dynamics. In Proceedings of the 2011 American Control Conference, ACC 2011 (pp. 2204-2209). [5990965]