Consensus Tracking Algorithm Via Observer-Based Distributed Output Feedback for Multi-Agent Systems Under Switching Topology

摘要

This paper is devoted to consensus tracking algorithm via observer-based distributed output feedback with adaptive coupling gains for leader-follower multi-agent systems under arbitrary switching topology. The full state of neighboring followers in our work is not available, and the leader's input might be nonzero and bounded generally. We design the actual observer and adaptive coupling gains to ensure the consensus tracking in a fully distributed fashion for the connected switching topologies. Both the observer gain and feedback gain are determined simultaneously. Sufficient conditions for the multi-agent system to reach consensus are obtained in terms of linear matrix inequalities by a cone complementary linearization technology. An illustrative example is provided to validate the theoretical results.