Leader-following consensus of multi-agent systems using output error feedback

In this paper, we deal with the leader-follower consensus problem of multi-agent systems in which the dynamics of each agent and the leader is a linear system that can be of any order. The interaction graph among the agents is directed. A decentralized control law based on the relative output errors between the neighboring agents is proposed, and we give the necessary and sufficient condition for the existence of the Leader-following Consensus protocol. The numerical simulation results prove the theoretical results and indicate that the proposed consensus protocol is valid.