Adaptive output-feedback consensus protocol design for linear multi-agent systems with directed graphs

This paper addresses the output feedback consensus protocol design problem for general linear multi-agent systems with directed communication graphs. By proposing a new method called adding an extra observer, two novel adaptive output feedback consensus protocols are proposed to achieve consensus for any strongly connected directed graph. The proposed adaptive output feedback protocols are fully distributed, relying on only the agent dynamics and the local output information of neighboring agents. A sufficient condition for the existence of the proposed adaptive protocols is that each agent is stabilizable and detectable.