Strict-Lyapunov-Function-Based Design of Distributed Estimators for Consensus on Directed Circular Graphs: An Application to UAVs

Verrelli, Cristiano M.; Tomei, Patrizio; Arayshi, Mohamed El; YOUSSEF, Ali; DASARI, Mohan; HABIBI, Hamed; VOOS, Holger

doi:10.1109/LCSYS.2025.3644798

Article (Scientific journals)

Strict-Lyapunov-Function-Based Design of Distributed Estimators for Consensus on Directed Circular Graphs: An Application to UAVs

Verrelli, Cristiano M.; Tomei, Patrizio; Arayshi, Mohamed El et al.

2025 • In IEEE Control Systems Letters, 9, p. 2891-2896

Peer Reviewed verified by ORBi

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https://hdl.handle.net/10993/67158

DOI
10.1109/LCSYS.2025.3644798

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Keywords :

Aerospace; Estimation; Identification; Lyapunov methods; Sensor Networks; Circular graph; Communication graphs; Distributed identification; Function-based design; Identification problem; Lyapunov's functions; Lyapunov's methods; Sensors network; Control and Systems Engineering; Control and Optimization

Abstract :

[en] In this letter, a solution to a general distributed identification problem on a directed circular communication graph is proposed. The original use of a new strict Lyapunov function within a persistently excited framework is crucial to prove the consensus achievement for an asymmetric neighbourhood-based decentralized parallel architecture, for which the communication burden is reduced, when compared to the case of symmetrical communication between the neighbours. Experimental results regarding quadrotor UAVs illustrate the theoretical derivations.

Disciplines :

Aerospace & aeronautics engineering

Author, co-author :

Verrelli, Cristiano M. ; University of Rome Tor Vergata, Electronic Engineering Department, Italy

Tomei, Patrizio ; University of Rome Tor Vergata, Electronic Engineering Department, Italy

Arayshi, Mohamed El ; University of Rome Tor Vergata, Electronic Engineering Department, Italy

YOUSSEF, Ali ; University of Luxembourg ; University of Rome Tor Vergata, Electronic Engineering Department, Italy

DASARI, Mohan ; University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT) > Automation

HABIBI, Hamed ; University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust > Automation > Team Holger VOOS ; School of Engineering and Energy, College of Science, Murdoch University, Perth, Australia

VOOS, Holger ; University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT) > Automation

External co-authors :

yes

Language :

English

Title :

Strict-Lyapunov-Function-Based Design of Distributed Estimators for Consensus on Directed Circular Graphs: An Application to UAVs

Publication date :

2025

Journal title :

IEEE Control Systems Letters

eISSN :

2475-1456

Publisher :

Institute of Electrical and Electronics Engineers Inc.

Volume :

Pages :

2891-2896

Peer reviewed :

Peer Reviewed verified by ORBi

Additional URL :

http://xplorestaging.ieee.org/ielx8/7782633/10939047/11300784.pdf?arnumber=11300784

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since 08 January 2026

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