  The concerns to autonomous vehicles have been becoming more intriguing in
coping with the more environmentally dynamics non-linear systems under some
constraints and disturbances. These vehicles connect not only to the
self-instruments yet to the neighborhoods components, making the diverse
interconnected communications which should be handled locally to ease the
computation and to fasten the decision. To deal with those interconnected
networks, the distributed estimation to reach the untouched states, pursuing
sensorless design, is approached, initiated by the construction of the modified
pseudo measurement which, due to approximation, led to the weighted average
consensus calculation within unscented filtering along with the bounded
estimation errors. Moreover, the tested vehicles are also associated to certain
robust control scenarios subject to noise and disturbance with some stability
analysis to ensure the usage of the proposed estimation algorithm. The
numerical instances are presented along with the performances of the control
and estimation method. The results affirms the effectiveness of the method with
limited error deviation compared to the other centralized and distributed
filtering. Beyond these, the further research would be the directed sensorless
design and fault-tolerant learning control subject to faults to negate the
failures.
