Distributed observer, duality, and optimal regulator design for multi-agent systems (original) (raw)

49th IEEE Conference on Decision and Control (CDC), 2010

Abstract

Abstract This paper studies synchronization using reduced state information based on output information passed between neighbor nodes. The node states are estimated using cooperative dynamical observers at each node. It is shown how to design cooperative state variable state feedbacks and observers at each node that are dual to each other, in a sense that extends the classical system theory notion of duality to dynamical systems on graphs. It is shown that unbounded consensus regions that guarantee synchronization on arbitrary ...

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