Observer-based Consensusability of Multi-agent Systems With Directed Topologies

The paper considers observer-based consensus problem for both continuous-time and discrete-time linear multi-agent systems over directed topologies. First, we designed a state observer to estimate the state of the agent's neighbors, and then designed a distributed consensus protocol using its own state and the neighbors estimated state. We demonstrate that multi-agent systems are capable of reaching consensus under this protocol. Finally, the validity of the results is apparent through simulation examples.