Leader-following consensus of linear multi-agent systems with state-observer under switching topologies

Abstract

In this paper, the leader-following consensus problem of higher order multi-agent systems is considered. The dynamics of each agent is given in general form of linear system and the communication topology among the agents is assumed to be undirected and switching. To track the active leader, a distributed observer-based consensus protocol is proposed to each following agent, which is based on the relative outputs of neighboring agents. A sufficient consensus condition is established by used parameter-dependent lyapunov function method under switching communication topologies. Two gain matrices used in the proposed protocol can be constructed by solving the Riccati equation and Sylvester equation respectively. Finally, a simulation example is given to illustrate our obtained result.

Intermittent observer-based consensus control for multi-agent systems with switching topologies

“…It is worth to mean that the degenerated continuous consensus protocol proposed in this paper is also new, which is different from the observer-based consensus protocols investigated by Li, Duan, Chen, and Huang (2010) and Zhang, Lewis, and Das (2011) under the fixed topology and by Gao et al (2013) under switching topology. While h = 0, the intermittent control becomes the impulsive control, and the consensus problem can be investigated by the Dirac function and impulsive control theory.…”

“…The continue-time and 2 X. Xu and L. Gao discrete-time leader-following consensus problems with general linear dynamics under switching topologies were investigated by Gao, Zhu, Chen, and Zhang (2013), Xu, Chen, Hunag, and Gao (2013) and Wang et al (2013), respectively.…”

“…Compared with the switching interacting topology, it is relatively easy to handle fixed topology by using the eigenvalue decomposition approach. For the switching interacting topology case, the common Lyapunov function method is a good way to analyse consensus of multi-agent systems (Gao, Zhang, & Chen, 2012;Gao, Zhu, & Chen, 2012;Gao et al, 2013;Hong et al, 2006;Liu & Jia, 2009;Ni & Cheng, 2010).…”

Distributed reduced‐order observer‐based approach to consensus problems for linear multi‐agent systems

“…A framework to solve leader‐following consensus problem was proposed by Zhang et al [31], including full state feedback control, observer design and dynamic output feedback control. Under switching topologies, the leader‐following consensus problem of linear multi‐agent systems was addressed with distributed full‐order observer‐based protocol in [32]. The discontinuous observer‐based protocol was proposed by Wen et al [33] to solve the linear multi‐agent consensus problem with fixed undirected topology.…”

On Distributed Reduced-Order Observer-Based Protocol for Linear Multiagent Consensus under Switching Topology

“…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. The leader-following consensus problem was investigated under a class of directed switching topologies in [34]. In [35], distributed reducedorder observer-based consensus protocols were proposed for both continuous-and discrete-time linear multiagent systems.…”