A Novel Distributed Consensus Algorithms For A Class Of Lti Multi-Agent Systems On Directed Graphs

We consider the consensus problem of high-order multi-agent systems, described by SISO Linear Time Invariant (LTI) dynamics, under general directed graphs. In contrast to the existing results, we propose a fully-distributed consensus algorithm, which just need the output of it neighbors in the feedback controller, except its own state information. Specifically, it is shown that, with a suitably designed similarity transformation, consensus is reached under only the necessary and sufficient condition of an interconnection graph having a spanning tree. The proposed approach relaxes some restrictive assumptions commonly considered in the available literature, such as imposing global gains in the network and/or exploiting additional information from neighboring agents other than their position-like states or output. Simulation results are provided to illustrate the effectiveness of the proposed approach.