A distributed adaptive observer for leader-follower networks

Daniel A. Burbano-L, Randy A Freeman, Kevin M Lynch

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

Abstract

We consider the problem of designing distributed algorithms that enable a group of agents (followers) to track a reference trajectory generated by a leader agent. Such algorithms are an integral part of a variety of distributed estimation and control techniques like the attitude control problem for spacecraft formation flying. Existing methods assume that the leader's reference dynamics are fully known to one or more follower agents, and they typically require significant amounts of inter-agent communication. In this paper, we propose a novel distributed adaptive observer in which no follower agent knows the leader's reference dynamics. In addition, our method does not require as much inter-agent communication as existing methods. We use appropriate Lyapunov functions to prove convergence, and we present numerical examples to demonstrate the efficacy of our approach.

Original languageEnglish (US)
Title of host publication2019 American Control Conference, ACC 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages2722-2727
Number of pages6
ISBN (Electronic)9781538679265
StatePublished - Jul 1 2019
Event2019 American Control Conference, ACC 2019 - Philadelphia, United States
Duration: Jul 10 2019Jul 12 2019

Publication series

NameProceedings of the American Control Conference
Volume2019-July
ISSN (Print)0743-1619

Conference

Conference2019 American Control Conference, ACC 2019
CountryUnited States
CityPhiladelphia
Period7/10/197/12/19

Fingerprint

Attitude control
Communication
Lyapunov functions
Parallel algorithms
Spacecraft
Trajectories

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

Cite this

Burbano-L, D. A., Freeman, R. A., & Lynch, K. M. (2019). A distributed adaptive observer for leader-follower networks. In 2019 American Control Conference, ACC 2019 (pp. 2722-2727). [8815315] (Proceedings of the American Control Conference; Vol. 2019-July). Institute of Electrical and Electronics Engineers Inc..
Burbano-L, Daniel A. ; Freeman, Randy A ; Lynch, Kevin M. / A distributed adaptive observer for leader-follower networks. 2019 American Control Conference, ACC 2019. Institute of Electrical and Electronics Engineers Inc., 2019. pp. 2722-2727 (Proceedings of the American Control Conference).
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Burbano-L, DA, Freeman, RA & Lynch, KM 2019, A distributed adaptive observer for leader-follower networks. in 2019 American Control Conference, ACC 2019., 8815315, Proceedings of the American Control Conference, vol. 2019-July, Institute of Electrical and Electronics Engineers Inc., pp. 2722-2727, 2019 American Control Conference, ACC 2019, Philadelphia, United States, 7/10/19.

A distributed adaptive observer for leader-follower networks. / Burbano-L, Daniel A.; Freeman, Randy A; Lynch, Kevin M.

2019 American Control Conference, ACC 2019. Institute of Electrical and Electronics Engineers Inc., 2019. p. 2722-2727 8815315 (Proceedings of the American Control Conference; Vol. 2019-July).

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

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Burbano-L DA, Freeman RA, Lynch KM. A distributed adaptive observer for leader-follower networks. In 2019 American Control Conference, ACC 2019. Institute of Electrical and Electronics Engineers Inc. 2019. p. 2722-2727. 8815315. (Proceedings of the American Control Conference).