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

TL;DR

This paper introduces a practical adaptive distributed output observer for leader-follower multiagent systems that relies solely on leader output, reducing complexity and information exchange compared to state-based methods.

Contribution

It proposes a novel adaptive distributed output observer that only uses leader output, making it more practical and efficient than existing state-based observers.

Findings

The observer requires only leader output information.

It significantly reduces observer dimension.

It decreases information exchange among agents.

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.