Distributed Order Estimation of ARX Model under Cooperative Excitation Condition

A Robust Distributed Estimation Algorithm under Alpha-Stable Noise Condition

Robust adaptive estimation of unknown parameter has been an important issue in recent years for reliable operation in the distributed networks. The conventional adaptive estimation algorithms that rely on mean square error (MSE) criterion exhibit good performance in the presence of Gaussian noise, but their performance drastically decreases under impulsive noise. In this paper, we propose a rob...

Bias-adjusted estimation in the ARX(1) model

A new point estimator for the AR(1) coefficient in the linear regression model with arbitrary exogenous regressors and stationary AR(1) disturbances is developed. Its construction parallels that of the median--unbiased estimator, but uses the mode as a measure of central tendency. The mean--adjusted estimator is also considered, and saddlepoint approximations are used to lower the computational...

Distributed MAP estimation algorithm for cooperative localization

Distributed Estimation for Cooperative Mobile Manipulation

We present a distributed method for the estimation of the kinematic parameters, the dynamic parameters, and the kinematic state of an unknown body manipulated by a decentralized team of mobile ground (planar) robots. The proposed approach relies on the geometry of the rigid body kinematics, the rigid body dynamics, on nonlinear observation, and on consensus algorithms. The only three requiremen...

Cooperative distributed model predictive control

In this paper we propose a cooperative distributed linear model predictive control strategy applicable to any finite number of subsystems satisfying a stabilizability condition. The control strategy has the following features: hard input constraints are satisfied; terminating the iteration of the distributed controllers prior to convergence retains closed-loop stability; in the limit of iterati...