Distributed Reduced-order Observer-based Consensus Control of Discrete-time Linear Multi-agent Systems

This paper proposes a distributed reduced-order observer-based control protocol to address the consensus problem of discrete-time linear multi-agent system. By solving modified discrete-time algebraic Riccati equation and using a multi-step algorithm, we design proper gain matrix and gain coefficient used in the protocol. By constructing a parameter-dependent common Lyapunov function, it is proved that under suitable conditions on communication, the multi-agent system will reach consensus under directed fixed topology no matter with a leader or without. Finally, a simulation example is provided to show the effectiveness of our result.