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Abstract and Applied Analysis
Volume 2013 (2013), Article ID 793276, 13 pages
Research Article

On Distributed Reduced-Order Observer-Based Protocol for Linear Multiagent Consensus under Switching Topology

Institute of Intelligent Systems and Decision, Wenzhou University, Zhejiang 325027, China

Received 21 January 2013; Accepted 18 March 2013

Academic Editor: H. G. Enjieu Kadji

Copyright © 2013 Yan Zhang et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


We discuss linear multiagent systems consensus problem with distributed reduced-order observer-based protocol under switching topology. We use Jordan decomposition method to prove that the proposed protocols can solve consensus problem under directed fixed topology. By constructing a parameter-dependent common Lyapunov function, we prove that the distributed reduced-order observer-based protocol can also solve the continuous-time multi-agent consensus problem under the undirected switching interconnection topology. Then, we investigate the leader-following consensus problem and propose a reduced-order observer-based protocol for each following agent. By using similar analysis method, we can prove that all following agents can track the leader under a class of directed interaction topologies. Finally, the given simulation example also shows the effectiveness of our obtained result.