Leader-Following Consensus of Heterogeneous Linear Multiagent Systems With Communication Time-Delays via Adaptive Distributed Observers
研究了异构线性多智能体系统在切换有向拓扑和时变通信延迟下的领导跟随一致性问题，提出了自适应分布式观测器和控制器，使系统实现输出一致性。
This article investigates the leader-following consensus problem of heterogeneous linear multiagent systems under switching and directed topologies. It is assumed that the communication between agents suffers from time-varying delays and only the neighboring agents of the leader are able to get access to the information of the leader agent, including its agent matrices. A key technical lemma on the input to state stability of time-delayed systems is first established with which the main results of this article can be obtained. An adaptive distributed observer, taking into consideration of communication time delays, is proposed for each follower to estimate the leader's system matrices and its state. Then, a distributed controller based on this adaptive observer is developed. We show that the resulting closed-loop multiagent system achieves the leader-following output consensus. Two examples are finally given to illustrate the effectiveness of the proposed controller.