Distributed and Truncated Reduced-Order Observer Based Output Feedback Consensus of Multi-Agent Systems

This technical note is concerned with output feedback consensus of both continuous-time and discrete-time multi-agent systems (MASs) characterized by high-order linear systems with directed communication topologies. Distributed reduced-order observer based protocols are established by only using the relative outputs and inputs of neighboring agents. It is shown that consensusability by the proposed output feedback protocols is equivalent to the consensusability by state feedback protocol. Under the condition that the open-loop dynamics of the MASs is not exponentially unstable, a truncated reduced-order observer based protocol utilizing only the relative outputs of neighboring agents is also established. A numerical example is given to illustrate the effectiveness of the proposed approaches.