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

Abstract EN

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.