Observer-based quadratic boundedness leader-following control for multi-agent systems

This paper presents the design of an observer-based quadratic boundedness protocol for leader-following consensus in multi-agent systems. The problem under consideration is to force all the agents to follow the trajectories of a virtual leader in spite of bounded disturbances which implies that the leader-following consensus is reached in a positively invariant and attractive ellipsoid. Under the framework of control synthesis in multi-agent systems subject to bounded disturbances, linear matrix inequality-based sufficient conditions are obtained for the computation of the controller and observer gains. The effectiveness of the proposed approach is demonstrated through simulations in a fleet of unmanned aerial vehicles subject to wind turbulence which are shown to achieve formation control.