Consensus of Fractional-Order Multi-Agent Systems via Observer-Based Boundary Control

This paper investigates the consensus problem of observer-based boundary control for fractional-order multi-agent systems (FOMASs). First, it is assumed that the state of the systems cannot be directly measured. State observers are proposed when there are only outputs of partial spatial domain and spatial boundary. In addition, two boundary controllers based on estimated states are proposed, namely, collocated boundary measurement form and distributed boundary measurement form, to achieve the consensus of FOMASs. The sufficient conditions for achieving consensus are obtained by employing fractional inequality and the Mittag-Leffler function. Lastly, two examples are given to verify the validity of the results.