Leader-following consensus of linear multi-agent systems with state-observer under switching topologies

In this paper, the leader-following consensus problem of higher order multi-agent systems is considered. The dynamics of each agent is given in general form of linear system and the communication topology among the agents is assumed to be undirected and switching. To track the active leader, a distributed observer-based consensus protocol is proposed to each following agent, which is based on the relative outputs of neighboring agents. A sufficient consensus condition is established by used parameter-dependent lyapunov function method under switching communication topologies. Two gain matrices used in the proposed protocol can be constructed by solving the Riccati equation and Sylvester equation respectively. Finally, a simulation example is given to illustrate our obtained result.