Integrated adaptive consensus protocol design for linear multi-agent systems with relative output information

This paper studies the fully distributed consensus protocol design problem for linear multi-agent systems based on relative output information. An integrated adaptive law is designed to adjust the feedback control gain matrix based on the estimation of the consensus error among neighboring agents. Compared with the fixed feedback matrix in the existing adaptive consensus protocols, the proposed integrated adaptive method can effectively expand the selection range of the feedback control gain. For the scenario where the agents’ actual state and absolute output information are not accessible, an observer is designed using measurable relative output information among neighboring agents. The proposed observer and controller are fully distributed since they do not rely on arbitrary global information about the communication topology among agents. Some numerical simulations are provided to exhibit the effectiveness of the proposed protocol.