Abstract
We discuss linear multiagent systems consensus problem with distributed reduced-order observer-based protocol under switching topology. We use Jordan decomposition method to prove that the proposed protocols can solve consensus problem under directed fixed topology. By constructing a parameter-dependent common Lyapunov function, we prove that the distributed reduced-order observer-based protocol can also solve the continuous-time multi-agent consensus problem under the undirected switching interconnection topology. Then, we investigate the leader-following consensus problem and propose a reduced-order observer-based protocol for each following agent. By using similar analysis method, we can prove that all following agents can track the leader under a class of directed interaction topologies. Finally, the given simulation example also shows the effectiveness of our obtained result.
Highlights
A great number of researchers pay much attention to the coordination control of the multiagent systems, which have various subject background such as biology, physics, mathematics, information science, computer science, and control science in [1,2,3,4]
By constructing a parameter-dependent common Lyapunov function, we prove that the proposed protocol can guarantee the multiagent consensus system to achieve consensus under undirected switching topology
We investigate the consensus problem for a group of agents with high-dimensional linear coupling dynamics under undirected switching interaction topology
Summary
A great number of researchers pay much attention to the coordination control of the multiagent systems, which have various subject background such as biology, physics, mathematics, information science, computer science, and control science in [1,2,3,4]. A distributed consensus protocol was proposed for first-order agent with distributed estimation of the general active leader’s unmeasurable state variables in [15], while [16] extended the results of [15] to the case of communication delays among agents under switching topology. In [17], the authors considered leader-following problem in the multiagent system with general linear dynamics in both fixed topology case and switching topology case, respectively. In [23], the author proposed an observer-type consensus protocol to the consensus problem for a class of fractional-order uncertain multiagent systems with general linear dynamics. For the multiagent system with general linear dynamics, [32] established a unified framework and proposed an observer-type consensus protocol, and [33] proposed a framework including full state feedback control, observer design, and dynamic output feedback control for leader-following consensus problem.
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