Achieving Leader-Follower Consensus with Delay for Competitive-Cooperative Interactions of Linear Multi-agent Systems: An Output Feedback Control Approach
Sourav Bhowmick, Bonty Halo, Surajit Panja · 2019
In this paper, leader-follower consensus of a linear multi-agent systems (MAS) has been investigated over a structurally balanced signed graph with observer-based output feedback control laws. The consensus problem is realized in such a way that one group of the followers achieves the leader state value in both sign and magnitude after a certain delay while the other group of followers achieves the leader's state only in magnitude, but opposite in sign after the same delay. The followers in the MAS model interact with each-other over a signed graph where it contains both types of interactions namely cooperative interaction that leads to agreement and competitive interaction that leads to disagreement. The leader has a nonzero control input that affects its dynamics. The followers realize the consensus task with two output feedback control laws with static and adaptive gains. It is shown in this work that if the underlying communication topology is structurally balanced that contains a rooted directed spanning tree having its root at the leader node, then the two appropriately designed output feedback control laws achieve the said consensus. The numerical simulations corroborate the theoretical results of the work.