Distributed consensus protocol for leader-following multi-agent systems with a Luenberger observer

This paper considers the consensus problem of the leader - following multi-agent systems. The dynamics of each agent are given in general form of linear system. The following agents can not obtain the state information of its neighbor agents directly, but the output information of its neighbor agents can be obtained. A function observer is proposed for each following agent to estimate its state feedback control input, and based on which a distributed consensus protocol is proposed to solve the leader-following consensus problem. Under the directed fixed topology, a consensus condition is established, and a multi-step algorithm is provided to construct the gain matrices and couple strength. Finally, a simulation example is given to illustrate the effectiveness of the obtained result.