The central estimator design for the moving targets

This paper addresses an estimator design problem of coordination control of multi-agent systems involving multiple targets, where the targets can be either stationary or moving. We first introduce the definitions of the estimator converging asymptotically and the estimator converging in finite-time. Then two constraint conditions for the central estimators are built, which are used to determine the structure of the central estimators, that is, the central estimators are formed by information assignment function and dynamical information feedback function. Furthermore, the estimator with the information assignment function and dynamical information feedback function are solved by using the extended graph theory and feedback control theory. Moreover, we prove that the proposed estimators are converging asymptotically or in finite-time. Finally, a simulation example is presented to validate the proposed algorithms.