Distributed Robust State Estimation of Uncertain Complex Networked Systems

This paper studies the consensus problem of multi-agent systems with unknown inputs under directed communication topologies. The structure of a specific-time observer is designed which takes a pulsative form at some time instants, and then the distributed attack-free protocol is presented, which only utilizes relative output measurement. To test the validity of the algorithm, the proposed algorithm is compared with existing Kalman filtering algorithm through simulation analysis, thereby drawing a conclusion on the advantages of reducing calculation costs, improving estimation accuracy, and convergence speed.