Consensus of linear multi-agent systems based on full-order observer |
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| Authors: | Zixi Li Hiroshi Ishiguro |
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| Institution: | Department of systems innovation, Osaka University, Osaka 560-8531, Japan |
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| Abstract: | This paper considers distributed consensus problem of multi-agent systems consisting of general linear dynamics with a time-invariant communication topology. A distributed full-order observer type consensus protocol based on relative output measurements of neighbor agents is proposed. It is found that the consensus problem of linear multi-agent systems with a directed communication topology having a spanning tree can be solved if and only if all subsystems are asymptotically stable. Some necessary and sufficient conditions are obtained for ensuring consensus in multi-agent systems. The design technique is based on algebraic graph theory, Riccati inequality and linear control theory. Finally, simulation example is given to illustrate the effectiveness of the theoretical results. |
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