Consensus of Linear Multi-agent Systems with a Smart Leader
This paper addresses the consensus problem with linear systems via a smart leader under directed topology. The smart leader tracks a given reference model and a control function is constructed to control the smart leader. The smart leader can utilize its neighboring followers’ feedback information when the control function meet certain condition, which can effectively reduce the leader’s controller cost and the tracking error among the leader and followers. By utilizing the relative output message of neighboring agents, a reduced-order observer is adopted under the assumption that the directed topology have a directed spanning tree. A sufficient condition is given to guarantee that the leader-following system can achieve consensus. Finally, simulation examples are given to demonstrate the effectiveness of the obtained results.
KeywordsSmart leader Linear system Leader-following consensus Reduced-order observer
This work is supported by the National Natural Science Foundation of China (Grant Nos. 61573200, 61573199).
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