Distributed estimation and control of multi-agent systems in uncertain environment

摘要

Due to the wide applications in wireless sensor networks, multi-robot cooperative control and satellite formation flying, etc., distributed control and estimation of multi-agent systems (MASs) are now a hot topic in the system control community. In practice, when carrying out distributed tasks, MASs are often subject to various uncertainties, which can make significant macro-influence to the whole systems via affecting each agent's microscopic decisions. The interaction among uncertainties and distributed information pattern may bring essential difficulty to the design and analysis of MASs. This paper is aimed at seeking more robust and more effective distributed estimation and control protocols to achieve global estimation and control tasks under various uncertainties including stochastic noises, signal loses, quantization errors and unknown system structures, etc. Specifically, distributed estimation, distributed control and distributed adaptive control are investigated.