Output Feedback Consensus of Multi-agent Systems with Generalized Uniformly Joint-Connected Switching Networks

Abstract

This paper presents an output feedback synthesis for leader-follower consensus of linear multi-agent systems with switching networks. We first establish uniform global exponential stability (UGES) for a class of cascaded linear switched systems by adopting weak zero-state detectibility (WZSD). Then a distributed output feedback controller is proposed based on the certainty equivalent principle, employing the neighborhood output estimation error only. A generalized uniformly joint-connected condition for switching networks is provided to check WZSD without any dwell-time condition.