On the Observability of Leader‐Based Multiagent Systems with Fixed Topology
Bo Liu, Ningsheng Xu, Housheng Su, Licheng Wu, Jiahui Bai · Complexity · 2019
This paper investigates the observability of first‐order, second‐order, and high‐order leader‐based multiagent systems (MASs) with fixed topology, respectively. Some new algebraic and graphical characterizations of the observability for the first‐order MASs are established based on agreement protocols. Moreover, under the same leader‐following framework with the predefined topology and leader assignment, the observability conditions for systems of double‐integrator and high‐integrator agents are also obtained. Finally, the effectiveness of the theoretical results is verified by numerical examples and simulations.