Observer-Based Cooperative Output Tracking Control of Linear Multi-Agent Systems

This paper investigates the cooperative output tracking control problem for a linear multi-agent system (MAS) that consists of a leader agent and multiple following agents. By constructing an augmented system, the original problem is converted into a stabilization problem, and then an observer-based augmented state feedback control law is designed. For the resulting closed-loop system, the stability and tracking performance are analyzed for plant-model match and mismatch cases, respectively. Finally, the effectiveness of the presented method is tested by numerical simulation.