标题： 基于分布式一致性观测器的目标状态估计设计与方位测量 显示英文标题

标题： Distributed consensus-based observer design for target state estimation with bearing measurements

摘要： 本文介绍了一种新颖的基于分布式共识的观测器设计，使无向通信网络中的一组智能体能够解决目标跟踪问题，其中目标被建模为任意阶次的积分器链。 每个智能体假定知道其自身的位置，并同时测量相对于目标的方位向量。 我们首先引入一种适用于状态动力学建模为积分器链且测量模型遵循特定非线性但适合观测器形式的连续时间观测器设计。 该设计利用了一个结合创新项和共识项的修正项，使得每个智能体只需向邻居广播部分状态估计，从而有效减少网络中的数据流量。 为了提供一致的指数稳定性保证，引入了一类广义观测器形式的非线性闭环系统的新型结果，并随后用作推导观测器增益稳定性条件的主要工具。 然后，通过探索正交投影矩阵的性质，所提出的设计用于解决分布式目标跟踪问题，并提供依赖于目标-智能体几何构型的显式稳定性条件。 针对目标分别建模为一阶、二阶和三阶积分器动力学的情况，推导出实际例子，突出设计过程和施加的稳定性条件。 最后，数值结果展示了所提出算法的特性。 显示英文摘要

摘要： This paper introduces a novel distributed consensus-based observer design that enables a group of agents in an undirected communication network to solve the problem of target tracking, where the target is modeled as a chain of integrators of arbitrary order. Each agent is assumed to know its own position and simultaneously measure bearing vectors relative to the target. We start by introducing a general continuous time observer design tailored to systems whose state dynamics are modeled as chains of integrators and whose measurement model follows a particular nonlinear but observer-suited form. This design leverages a correction term that combines innovation and consensus components, allowing each agent to broadcast only a part of the state estimate to its neighbours, which effectively reduces the data flowing across the network. To provide uniform exponential stability guarantees, a novel result for a class of nonlinear closed-loop systems in a generalized observer form is introduced and subsequently used as the main tool to derive stability conditions on the observer gains. Then, by exploring the properties of orthogonal projection matrices, the proposed design is used to solve the distributed target tracking problem and provide explicit stability conditions that depend on the target-agents geometric formation. Practical examples are derived for a target modeled as first-, second-, and third-order integrator dynamics, highlighting the design procedure and the stability conditions imposed. Finally, numerical results showcase the properties of the proposed algorithm.