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

• Main Authors: Yan Zhang, Lixin Gao, Changfei Tong
• Format: Article
• Language: English
• Published: Hindawi Limited 2013-01-01
• Series: Abstract and Applied Analysis
• Online Access: http://dx.doi.org/10.1155/2013/793276

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.