Integrated Design of Fully Distributed Adaptive State Estimation and Consensus Control for Multi-agent Systems

In this paper, the problem of fully distributed adaptive state estimation and consensus control for linear multi-agent systems is investigated. By designing fully distributed adaptive output tracking observers, the entire output information is available to each agent, and local state estimators based on the estimated output is constructed to estimate the overall state of multi-agent systems. The consensus control protocol based on state estimation for multi-agent systems is designed to ensure the agents achieve consensus. The proposed control input of each agent relies on its own estimation of the entire state. Theoretical analysis proves the effectiveness of the algorithm and practical applications are given by simulation.