Relative output feedback based distributed tracking for leader-following MASs

This paper studies the leader-following consensus problem for relative output feedback control of multi-agent systems (MASs). In this paper, the leader-following consensus protocol via static output feedback is proposed. Then, we present two algorithms via a Lyapunov equation to determine the output feedback gain matrix, one is an iteration algorithm, and the other is proposing a structed Lyapunov matrix. Finally, a simulaion example is provided to test the effectiveness of algorithms.

[1]  V. Belozyorov.  New solution method of linear static output feedback design problem for linear control systems , 2016 .

[2]  Zhong-Ping Jiang,et al.  Robust State Agreement of Nonlinear Multi-agent Systems Subject to Measurement Disturbances , 2018, 2018 37th Chinese Control Conference (CCC).

[3]  Jianchang Liu,et al.  A consensus-based multi-agent approach for estimation in robust fault detection. , 2014, ISA transactions.

[4]  R. Benton,et al.  Static output feedback stabilization with prescribed degree of stability , 1998, IEEE Trans. Autom. Control..

[5]  Richard M. Murray,et al.  Consensus problems in networks of agents with switching topology and time-delays , 2004, IEEE Transactions on Automatic Control.

[6]  Young Hoon Joo,et al.  A proposition of iterative LMI method for static output feedback control of continuous-time LTI systems , 2016 .

[7]  Miguel Bernal,et al.  LMI–Based Robust Control of Uncertain Nonlinear Systems via Polytopes of Polynomials , 2019, Int. J. Appl. Math. Comput. Sci..

[8]  Changchun Hua,et al.  Distributed Output Feedback Leader-Following Control for High-Order Nonlinear Multiagent System Using Dynamic Gain Method , 2020, IEEE Transactions on Cybernetics.

[9]  H. Unbehauen,et al.  Robust H∞ observer design of linear time-delay systems with parametric uncertainty , 2001 .

[10]  Jianchang Liu,et al.  Consensus Tracking Algorithm Via Observer-Based Distributed Output Feedback for Multi-Agent Systems Under Switching Topology , 2014, Circuits Syst. Signal Process..

[11]  Keyou You,et al.  Coordination of discrete‐time multi‐agent systems via relative output feedback , 2011 .

[12]  Zhen Wang,et al.  Consensus of second-order multi-agent systems with nonlinear dynamics and time delays , 2012, Neural Computing and Applications.