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Output Based Adaptive Distributed Output Observer for Leader-follower Multiagent Systems

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Document pages: 8 pages

Abstract: The adaptive distributed observer approach has been an effective tool forsynthesizing a distributed control law for solving various control problems ofleader-follower multiagent systems. However, the existing adaptive distributedobserver needs to make use of the full state of the leader system. Thisassumption not only precludes many practical applications in which only theoutput of the leader system is available, but also leads to a high dimensionobserver. In this communique, we propose an adaptive distributed outputobserver which only makes use of the output of the leader system, and is thusmore practical than the state based adaptive distributed observer. Moreover,the dimension and the information exchange among agents of the proposedadaptive distributed output observer can be significantly smaller than those ofthe state based adaptive distributed output observer.

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