The Consensus Strategy Of Linear Multi-agent System Based On The Observer

Recently,owing to the wide application of the multi-agent system in many areas such as computer,communication networks,traffic,formation control and optimization,more and more researchers focus on the problem of the coordination control of multi-agent system.The consensus problem is a significant and fundamental issues in distributed control of multi-agent systems.The goal is to design a distributed control strategy that allows all agents to reach agreement on some amount of interest.The solution of many consensus problems is based on continuous state information.However,in many practical applications,due to network,communication and cost constraints,agents might not be able to get state information directly or only communicate with their neighbors periodically rather than continuously.Thus,the design of sampled observers has attracted a large number of researchers attention.This paper mainly studies the consensus strategy of linear multiagent system based on the observer.Firstly,we discusses the stability of continuous time linear system under the sampled output,a sampleddata observer and a control protocol were proposed to solve the stability problem.Since only sampled output information of agent is available,we propose a sampled-data observer to estimate the state of the agent.By using the Lyapunov method,the stability of the linear system was solved.The advantage of this method is that the data information can be updated according to the maximum sampling interval.Secondly,We consider the consensus of linear multi-agent systems with sampled output undirected interaction topology,and propose a sampling observer and control protocol to solve the consistency problem.Finally,we study the weighted consensus for linear multi-agent systems with directed interaction topology.Under both state feedback and output feedback control strategies,the weighted consensus problems are transformed into the equivalent conventional consensus problems.Then,some distributed state feedback and output feedback protocols are proposed to solve the weighted consensus problems.At the same time,the bipartite consensus and cluster consensus problems can be included in our established frame.