Observer-based control of multi-agent systems under decentralized information

This paper addresses the problem of decentralized implementation of a global state feedback controller for multi-agent systems. The system is assumed to be under the constraint of a complete decentralized information structure. The decentralization of the control task is achieved through the construction of low-order decentralized functional observers with the purpose of generating the required corresponding control signal for each local control station. A design procedure is developed for obtaining an approximate solution to the design of the observers. Stability analysis is provided fir the global system using the proposed observer-based approach. A numerical example is given to illustrate the design procedure and cases when the observers' order increases from the lowest value.