On distributed reduced-order observer-based protocol for linear multiagent consensus under switching topology (Q370220)

Summary: We discuss linear multiagent systems consensus problem with distributed reduced-order observer-based protocol under switching topology. We use Jordan's decomposition method to prove that the proposed protocols can solve consensus problems 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.