Distributed H∞-consensus estimation for moving target using constant gain

This paper studies the H∞-consensus estimation problem for a moving target using constant gain under local communication and stochastic noises, where the communication topology is assumed to be switched. To solve this problem, we propose a recursive H∞-consensus estimation algorithm using constant gain, which based on the solution of algebraic Riccati equation (ARE). The stability properties of the proposed algorithm and a lower bound for estimation errors are investigated by using Lyapunov method and a common H∞ filter. The effectiveness of the proposed estimation algorithm are illustrated by simulations.