Observer-Based Leader-Following Consensus for Linear Multiagent Systems with a Leader of Unknown Input

Abstract

In this article, a distributed observer-based tracking control protocol is proposed for linear multiagent systems having a leader with unknown nonzero input. The leader is assumed to be uncooperative, i.e., no communication link is available for the leader to transmit its state or control input to the followers. Based on the relative output measurements and the information received from the neighbors, a local controller for each follower is designed, such that the states of the followers converge to the states of the leader. In the proposed algorithm, no global information of the network topology is needed for the controller design. Two simulation examples are presented to illustrate the effectiveness of the proposed methodology.