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

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