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

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.

Leader-Following Consensus Stability of Discrete-Time Linear Multiagent Systems with Observer-Based Protocols

“…Similarly, an algorithm is presented to design the same parameter matrices used in the protocols (27) and (28).…”

“…then the distributed observer-based protocols (16) and (17) can solve the discrete-time leader-following consensus problem. Furthermore, the parameter matrices , , , 1 , and 2 used in protocols (27) and (28) are constructed by Algorithm 13. By taking which satisfies…”

“…The multiagent system adopts the consensus protocols (16) and 17 The state tracking errors showed in Figure 1, which show all following agents can track the leader. As for the reducedorder observer case, the matrices , , , 1 , and 2 used in the protocols (27) and 28…”

“…In [25], 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. In [26], the authors proposed distributed reduced-order observer-based protocols to solve consensus problem, which were generalized to solve leader-following consensus problem under switching topology by [27].…”

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

“…Under the assumption that the velocity of the active leader could not be measured in real time, Gao et al designed distributed consensus observers for the second-order follower-agents in Gao, Zhu, and Chen (2012). Relying on the relative output of neighbouring agents, distributed reduced-order observed-based protocols were proposed in Li, Liu, Lin, and Ren (2011) and were generalised to solve leader-following consensus problem with switching topology in Zhang, Gao, and Tong (2013). A distributed protocol was proposed for a modified consensus problem of a network of agents that have the same continuous-time linear dynamics in Cheng, Hou, and Lin (2011).…”