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This paper addressed the problem of the simultaneous estimation of unknown inputs and states in a multi-agent system with time-invariant and time-varying topology. A group of distributed cooperative recursive filters, in the sense of minimum-variance unbiased, was developed, where the estimations of unknown input and state were combined. A necessary and sufficient existing condition is presented and proven for the proposed distributed cooperative filters. Theoretical and numerical analyses demonstrate that the existing condition of the proposed filters is significantly relaxed, in comparison to that of conventional decentralized filters.

Minimum-Variance Unbiased Unknown Input and State Estimation for Multi-Agent Systems by Distributed Cooperative Filters