Fully Distributed Adaptive Output Feedback Protocols for Linear Multi-Agent Systems with Directed Graphs: A Sequential Observer Design Approach
It solves a known bottleneck in distributed control—designing fully distributed adaptive output feedback protocols for directed graphs—which existing methods could not accomplish.
This paper addresses output feedback consensus for linear multi-agent systems with directed graphs, proposing a sequential observer design approach that enables fully distributed adaptive protocols. Leaderless consensus is achieved for any strongly connected directed graph, and leader-follower consensus for any directed graph with a spanning tree rooted at the leader, under stabilizable and detectable conditions.
This paper studies output feedback consensus protocol design problems for linear multi-agent systems with directed graphs. We consider both leaderless and leader-follower consensus with a leader whose control input is nonzero and bounded. We propose a novel sequential observer design approach, which makes it possible to design fully distributed adaptive output feedback protocols that the existing methods fail to accomplish. With the sequential observer architecture, we show that leaderless consensus can be achieved for any strongly connected directed graph in a fully distributed manner, whenever the agents are stabilizable and detectable. For the case with a leader of bounded control input, we further present novel distributed adaptive output feedback protocols, which include nonlinear functions to deal with the effect of the leaders's nonzero control input and are able to achieve leader-follower consensus for any directed graph containing a directed spanning tree with the leader as the root.