Consensus of Linear Multi-agent Systems with a Smart Leader

  • Yangbo Li
  • Hui Liu
  • Zhongxin LiuEmail author
  • Zengqiang Chen
Conference paper
Part of the Lecture Notes in Electrical Engineering book series (LNEE, volume 528)


This paper addresses the consensus problem with linear systems via a smart leader under directed topology. The smart leader tracks a given reference model and a control function is constructed to control the smart leader. The smart leader can utilize its neighboring followers’ feedback information when the control function meet certain condition, which can effectively reduce the leader’s controller cost and the tracking error among the leader and followers. By utilizing the relative output message of neighboring agents, a reduced-order observer is adopted under the assumption that the directed topology have a directed spanning tree. A sufficient condition is given to guarantee that the leader-following system can achieve consensus. Finally, simulation examples are given to demonstrate the effectiveness of the obtained results.


Smart leader Linear system Leader-following consensus Reduced-order observer 



This work is supported by the National Natural Science Foundation of China (Grant Nos. 61573200, 61573199).


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Copyright information

© Springer Nature Singapore Pte Ltd. 2019

Authors and Affiliations

  • Yangbo Li
    • 1
    • 2
  • Hui Liu
    • 1
    • 2
  • Zhongxin Liu
    • 1
    • 2
    Email author
  • Zengqiang Chen
    • 1
    • 2
  1. 1.College of Computer and Control EngineeringNankai UniversityTianjinChina
  2. 2.Tianjin Key Laboratory of Intelligent RoboticsNankai UniversityTianjinChina

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