Aperiodically intermittent output feedback consensus control for second-order leader-following multi-agent systems based on observer.

This study examines the leader-following consensus problem of a class of second-order nonlinear multi-agent systems, where the velocity information is supposed to be unmeasurable. Under the setting, this paper presents a novel aperiodically intermittent output feedback control protocol such that all followers reach consensus with the leader, in which a distributed state observer is built for each follower to observe the velocity state. Based on the Lyapunov stability theory and some matrix analysis techniques, a couple of sufficient conditions for the leader-following consensus of the nonlinear multi-agent system under study are obtained even though the velocity state is unavailable. Finally, the effectiveness of the theoretical results is verified by numerical simulation. [ABSTRACT FROM AUTHOR]