Cascade Super-Twisting Observer for Linear Multiagent Systems without Communication

The paper addresses the consensus problem (i.e., the agreement of state vectors) for amultiagent system consisting of identical linear agents. The study focuses on the case where thereis no communication between agents, meaning there is no exchange of information, and agentcontrol is achieved through the agents’ own sensors, providing incomplete information about thestate vector of the agent and its neighbors, with the information possibly being noisy. To solvethis problem, a linear protocol based on observer data for systems under uncertainty is proposed.Cascade observers based on the “super-twisting” method are suggested as such observers. Sufficientconditions are obtained for the existence of a controller where the observation error converges tozero under bounded disturbances. An example illustrating the proposed approach is provided.