Abstract
This paper investigates the consensus problem of homogeneous linear multi-agent systems using output feedback. An observer-type protocol is formulated, which only requires relative outputs of neighbours but not the information exchange between controllers. It is shown that the protocol bridges some existing ones of the same nature. A robust control approach is presented for consensus protocol design, where one needs to solve a Riccati equation and a linear matrix inequality. By virtue of low- and high-gain techniques, it is shown that the design method provides a solution for agents that are not exponentially unstable or are minimum-phase, and thus provides a unified point of view for some existing results. A numerical example is finally provided to illustrate the proposed method.
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