부산대학교 도서관

In this study, the leader-following tracking control via observer-based dynamic output-feedback protocol under a time-invariant directed graph is addressed. A control scheme based on observers is developed for multi-agent systems (MASs) to guarantee that the trajectories of followers synchronize to the leader asymptotically, the protocol here does not require the relative state information of neighbouring controller. Firstly, when there is no disturbance, the MASs can reach leader-following tracking control, then the system can also achieve tracking with a guaranteed H ∞ performance subject to external disturbance. A sufficient condition by Lyapunov stability theorem is adopted to make the closed-loop error system be asymptotically stable. Finally, the results are also applied to study H ∞ containment control problem. Two examples verify the effectiveness of the control protocol.