State-estimation and cooperative control with uncertain time

Sean G. Carver, Eric S. Fortune, Noah J. Cowan

Research output: Chapter in Book/Report/Conference proceedingConference contribution

5 Scopus citations


State estimation and control typically depend on the implicit assumption that actuation and measurement occur at known points in time. This assumption is predicated on sufficiently precise timekeeping afforded by engineered clocks. Biological control systems do not have access to quartz-crystal technology and yet animals perform behaviors that engineered systems cannot. Here, we examine the problem of state estimation using imprecisely timed measurements, with known temporal statistics. We consider the case that there are two controllers, each with its own imperfect clock, performing a cooperative task-formulated in a leader-follower paradigm. In our problem, the follower estimates the state of the leader's noisy clock along with other state variables. An example of a complex cooperative leader-follower task is ballroom dancing.

Original languageEnglish (US)
Title of host publication2013 American Control Conference, ACC 2013
PublisherInstitute of Electrical and Electronics Engineers Inc.
Number of pages6
ISBN (Print)9781479901777
StatePublished - 2013
Event2013 1st American Control Conference, ACC 2013 - Washington, DC, United States
Duration: Jun 17 2013Jun 19 2013

Publication series

NameProceedings of the American Control Conference
ISSN (Print)0743-1619


Other2013 1st American Control Conference, ACC 2013
Country/TerritoryUnited States
CityWashington, DC

All Science Journal Classification (ASJC) codes

  • Electrical and Electronic Engineering


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