Decoupled Robust State Estimation and Disturbance Rejection in Model-Free Formation Control
Husnain, Sabir
Husnain, Sabir
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Abstract
This research addresses a critical gap in multi-agent systems: maintaining precise formation control despite sensor failures and environmental disturbances. We introduce a decoupled robust framework that integrates Model-Free Control (MFC) with an Extended State Observer (ESO) to actively reject lumped uncertainties without an explicit plant model, and Robust Gaussian likelihood Based Modified Kalman Filter (RGBMKF) for state estimation in the presence of sensor outliers. By utilizing a distributed virtual sensor mesh and robust state estimation, our approach guarantees stability even in the presence of non-Gaussian outliers and communication topology changes. Simulation results confirm global exponential stability and resilience, making it ideal for real-world heterogeneous robotic control.
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Date
1/1/2026
Student Status
Graduate Student
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Poster
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Electrical Engineering
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College of Engineering and Mathematical Sciences
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Engineering