摘要：This paper studies the consensus problem of multi-agent systems in which all agents are modeled by a general linear system. The authors consider the case where only the relative output feedback between the neighboring agents can be measured. To solve the consensus problem, the authors first construct a static relative output feedback control under some mild constraints on the system model. Then the authors use an observer based approach to design a dynamic relative output feedback control. If the adjacent graph of the system is undirected and connected or directed with a spanning tree, with the proposed control laws, the consensus can be achieved. The authors note that with the observer based approach, some information exchange between the agents is needed unless the associated adjacent graph is completely connected.

摘要：The cooperative output tracking problem of multi-agent systems in finite time is *** order to enable the agents to quickly track and converge to external system within a finite time,a novel distributed output feedback control strategy based on the finite-time state observer is *** distributed finite-time observer can not only solve cooperative output tracking problems when the agents can not get external system signal,but also make the systems have a faster convergence and a good *** stability of the system in finite time is proved based on Lyapunov *** simulations results have been provided to demonstrate the effectiveness of the proposed protocol.

摘要：The formation problem of multi-agent systems via coordinated control is investigated,where the multiple agents can achieve the common velocity with leader and avoid collision during the *** the real-world situation,the communication is often disturbed and ***,the unknown disturbances are considered in the velocity measurements,which is assumed to be bounded and does not need to be ***,a complicated nonlinear interaction among agents is presented in the design of *** on the existing work of multi-agent systems,a flocking control protocol is proposed to address the formation problem in the dynamic *** stability analysis is given to prove that the velocities of all agents can converge to the velocity of leader and the stable motion with collision avoidance can be achieved ***,some simulations are presented to verify the effectiveness of the proposed algorithm.