Fully Distributed Consensus Control for Linear Multiagent Systems: A Reduced-Order Adaptive Feedback Approach

This paper is concerned with fully distributed consensus control of linear multiagent systems with undirected graphs. Two kinds of reduced-order adaptive output-feedback protocols are proposed. For the edge-based protocol, each edge is adapted by a scalar that is determined by the output information of the associated two agents; for the node-based protocol, each agent multiplies the connecting weights by a scalar that is determined by the relative output information of all neighboring agents. Sufficient conditions in terms of the solvability of some matrix equations are derived for the existence of the two protocols. Furthermore, a tractable algorithm is constructed for designing the protocol gains. Compared with the existing related results, the proposed protocols have the following three merits simultaneously-lower dimension, using relative output information about neighbouring agents, and in the fully distributed fashion. A simulation example on formation flying of spacecrafts is presented to illustrate the efficacy of the proposed method.