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

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.