Distributed-observer-based cooperative control for synchronization of linear discrete-time multi-agent systems

- This paper studies discrete-time output regulation based on distributed protocol.
- Distributed observers are constructed for the unmeasurable states.
- The stability region and internal model method is used for solving the problem.

This paper considers output synchronization of discrete-time multi-agent systems with directed communication topologies. The directed communication graph contains a spanning tree and the exosystem as its root. Distributed observer-based consensus protocols are proposed, based on the relative outputs of neighboring agents. A multi-step algorithm is presented to construct the observer-based protocols. In light of the discrete-time algebraic Riccati equation and internal model principle, synchronization problem is completed. At last, numerical simulation is provided to verify the effectiveness of the theoretical results.