A decentralized observer for a general class of Lipschitz systems

The paper presents a decentralized observer for a class of multi-agent systems. The proposed observer allows each robot of the team to estimate the overall system state provided that the communication network is connected and that the motion control law is Lipschitz. In case of perfect measurements the observer error is proved to be exponentially convergent to zero, while global uniform ultimately boundeness is proved for the case of bounded non-vanishing noise on the state measurements. The approach is validated via numerical simulations considering, as a case study, the decentralized control of the centroid and the formation of a team of robots.