Consensus control of linear multi-agent systems based on state observer

The paper considers observer-based consensus problem for both continuous-time and discrete-time linear multi-agent systems over undirected networks. It is assumed that the agent have knowledge of its own full state and can observe its neighbors’ state. By designing state observer, the neighbors’ state is estimated. The distributed consensus protocol is designed by applying the error of the agent’s own full state and the neighbors’ estimated state. By means of separation principle, it is proved that the multi-agent systems can reach consensus under the proposed consensus protocol. Finally, the validity of the results is verified by simulations.