An observer-based consensus protocol for linear multi-agent systems with sampled-data

This paper considers a consensus problem of linear multi-agent systems with sampled relative outputs of neighboring agents. An observer-based consensus protocol is proposed for solving such problems. A sufficient and necessary condition for consensus is obtained using matrix and sampled control theory. Furthermore, provided that the system of each agent is stabilizable and detectable, a multi-step algorithm is given to design the consensus protocol. Finally, the effectiveness of the theoretical results is demonstrated through a numerical simulation.