Fully distributed leader–follower consensus for multi-agent systems based on reduced-order adaptive feedback protocol

Abstract

This paper addresses the leader–follower consensus problem of linear multi-agent systems by designing reduced-order adaptive output feedback protocol. Using relative output information among neighboring agents, node-based adaptive output feedback control protocol and edge-based adaptive output feedback control protocol are presented, respectively. For both cases, based on Lyapunov analysis and algebraic Riccati equation design, some sufficient conditions are given to achieve leader–follower consensus by applying the proposed adaptive output feedback protocols. Finally, some simulation examples are given to illustrate the validity of the theoretical results.