Strict-Lyapunov-Function-Based Design of Distributed Estimators for Consensus on Directed Circular Graphs: An Application to UAVs
In this letter, a solution to a general distributed identification problem on a directed circular communication graph is proposed. The original use of a new strict Lyapunov function within a persistently excited framework is crucial to prove the consensus achievement for an asymmetric neighbourhood-based decentralized parallel architecture, for which the communication burden is reduced, when compared to the case of symmetrical communication between the neighbours. Experimental results regarding quadrotor UAVs illustrate the theoretical derivations.
Authors
- Hamed Habibi (ORCID: https://orcid.org/0000-0002-7393-6235)
- D. M. K. K. Venkateswara Rao (ORCID: https://orcid.org/0000-0001-8559-4757)
- Holger Voos (ORCID: https://orcid.org/0000-0002-9600-8386)
- Cristiano Maria Verrelli (ORCID: https://orcid.org/0000-0002-8093-0296)
- P. Tomei (ORCID: https://orcid.org/0000-0001-7887-1904)
- Mohamed El Arayshi (ORCID: https://orcid.org/0000-0002-1796-2033)
- Ali Youssef (ORCID: https://orcid.org/0000-0002-3219-5688)
Institutions
- University of Rome Tor Vergata (IT)
- Murdoch University (AU)
- University of Luxembourg (LU)
- Luxembourg Institute of Science and Technology (LU)
Publication Details
- Journal
- IEEE Control Systems Letters
- Published
- 2025-01-01
- DOI
- https://doi.org/10.1109/lcsys.2025.3644798
- Primary Topic
- Distributed Control Multi-Agent Systems
- Type
- article
- Field-Weighted Citation Impact
- 0.00