Consensus Problem Of Multi-agent Systems Based On The Function Observer

With the progress of society and the rapid development of science and technology, the modeling and coordination control problem of multi-agent systems have become a hotspot in many research fields. Consensus problem is one of the most fundamental problems of coordinated control. The basic idea to solve consensus problem is to design suitable protocols or algorithms making the system reach global consensus. On the basis of mature control theory and observer theory, this paper studies consensus problem of multi-agent system. The main research content and results are as follows:1. For continuous-time linear multi-agent system, local function observer and distributed controller protocol respectively, distributed function observer and local controller protocol are proposed to solve the consensus problem, By using Shur transformation, The multi-agent system will eventually achieve consensus under the fixed topology. Fin-ally, simulation examples are provided to illustrate the effectiveness of our obtained results.2. For the discrete-time linear multi-agent system, similar to the continu-ous time linear multi-agent system, two kinds of function observer pro-tocols are proposed to solve the consensus problem, and through the si-mulation experiments to prove the effectiveness of our results.