Collaborative System Identification via Parameter Consensus

Ivan Papusha, Eugene Lavretsky and Richard M. Murray
2014 American Control Conference (ACC)

Standard schemes in system identification and adaptive control rely on persistence of excitation to guaran- tee parameter convergence. Inspired by networked systems, we extend parameter adaptation to the multi-agent setting by combining a gradient law with consensus dynamics. The gradient law introduces a learning signal, while consensus dynamics preferentially push each agentâs parameter estimates toward those of its neighbors. We show that the resulting online, decentralized parameter estimator combines local and neighboring information to identify the true parameters even if no single agent employs a persistently exciting input. We also elaborate upon collective persistence of excitation in networked adaptive algorithms.

• Conference Paper: http://www.cds.caltech.edu/~murray/preprints/plm14-acc.pdf
• Project(s): SRC TerraSwarm