https://murray.cds.caltech.edu/index.php?action=history&feed=atom&title=Collaborative_System_Identification_via_Parameter_Consensus 2026-05-17T15:43:28Z Revision history for this page on the wiki MediaWiki 1.44.2 https://murray.cds.caltech.edu/index.php?title=Collaborative_System_Identification_via_Parameter_Consensus&diff=19695&oldid=prev 2016-05-15T06:15:09Z

<p>htdb2wiki: creating page for 2013j_plm14-acc.html</p> <p><b>New page</b></p><div>{{HTDB paper<br /> | authors = Ivan Papusha, Eugene Lavretsky and Richard M. Murray<br /> | title = Collaborative System Identification via Parameter Consensus<br /> | source = 2014 American Control Conference (ACC)<br /> | year = 2013<br /> | type = Conference Paper<br /> | funding = TerraSwarm<br /> | url = http://www.cds.caltech.edu/~murray/preprints/plm14-acc.pdf<br /> | abstract = <br /> 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 agent’s 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.<br /> | flags = <br /> | filetype = PDF<br /> | filesize = 287K<br /> | tag = plm14-acc<br /> | id = 2013j<br /> }}</div>

Murray