Adaptive Output Feedback Consensus of Linear Multi-agent Systems Using Switching Logic

This paper addresses the adaptive-output-feedback consensus of linear multi-agent systems under a directed graph. The proposed protocol employs a local state observer to estimate the true state of each agent. The coupling weight of each agent is adjusted in a piecewise constant manner using a switching logic that uses only estimated states received from neighboring agents. The proposed consensus protocol is completely decentralized, as it uses only local information from neighboring agents. Moreover, the proposed design method is advantageous because it has a simpler structure and requires less computational burden than the existing protocols related to adaptive-output-feedback consensus.