Integrated Leaderless Consensus Protocol Design for Linear Systems Based on Output Feedback

This paper focuses on the leaderless consensus problem for multi-agent systems and develops an integrated distributed consensus protocol using output feedback. For the scenario where the actual state of the agent is not accessible, this paper designs an observer for each agent to estimate its own state based on the output information. Then, different from existing consensus approaches that require each agent has a common constrained feedback control matrix, this paper develops an integrated adaptive feedback control gain matrix based on the neighbor state estimation, which allows each agent to adjust dynamically based on local information.