Table of Contents Author Guidelines Submit a Manuscript
Mathematical Problems in Engineering
Volume 2013, Article ID 873140, 12 pages
Research Article

Leader-Following Consensus of Linear Multiagent Systems with State Observer under Switching Topologies

1Institute of Intelligent Systems and Decision, Wenzhou University, Zhejiang 325035, China
2Department of Control Science and Engineering, Zhejiang University, Hangzhou 310027, China
3State Key Laboratory of Industrial Control Technology, Institute of Industrial Process Control, Zhejiang University, Hangzhou 310027, China

Received 2 January 2013; Accepted 24 January 2013

Academic Editor: Yang Tang

Copyright © 2013 Lixin Gao 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.


The leader-following consensus problem of higher order multiagent systems is considered. The dynamics of each agent are given in general form of linear system, and the communication topology among the agents is assumed to be directed and switching. To track the leader, two kinds of distributed observer-based consensus protocols are proposed for each following agent, whose distributed observers are used to estimate the leader’s state and tracking error based on the relative outputs of the neighboring agents, respectively. Some sufficient consensus conditions are established by using parameter-dependent Lyapunov function method under a class of directed interaction topologies. As special cases, the consensus conditions for balanced and undirected interconnection topology cases can be obtained directly. The protocol design technique is based on algebraic graph theory, Riccati equation, and Sylvester equation. Finally, a simulation example is given to illustrate our obtained result.