Distributed State Estimation for Flapping-Wing Micro Air Vehicles with Information Fusion Correction

In this paper, we explore a nonlinear interactive network system comprising nodalized flapping-wing micro air vehicles (FMAVs) to address the distributed H∞ state estimation problem associated with FMAVs. We enhance the model by introducing an information fusion function, leading to an information-fusionized estimator model. This model ensures both estimation accuracy and the completeness of FMAV topological information within a unified framework. To facilitate the analysis, each FMAV's received signal is individually sampled using independent and time-varying samplers. Transforming the received signals into equivalent bounded time-varying delays through the input delay method yields a more manageable and analyzable time-varying nonlinear network error system. Subsequently, we construct a Lyapunov-Krasovskii functional (LKF) and integrate it with the refined Wirtinger and relaxed integral inequalities to derive design conditions for the FMAVs' distributed H∞ state estimator, minimizing conservatism. Finally, we validate the effectiveness and superiority of the designed estimator through simulations.