This paper addresses the issue of cooperative control concerning the output synchronization of the linear time-invariant multi-input multi-output multi-agent system i.e., multi-unmanned aerial vehicle (a swarm of the drone), by designing observer-based consensus protocol with directed communication topology. Considering the leader following consensus tracking problem, an observer-based protocol is designed to obtain desirable output synchronization. The protocol design consists of a local observer for the leader drone and a distributed observer for the follower drones. Observer gains are optimized through a multi-step algorithm based on linear quadratic regulator controller and linear matrix inequalities. Most of the existing literature on cooperative control considers full state information for the controller as well as observer design. However, the protocol for the controller and observer design for consensus tracking of multi-unmanned aerial vehicles presented in this paper considers that only the relative partial states information from the corresponding neighboring drones are utilized. The designed algorithm is robust and guarantees that all the states of follower drones track the states of the leader drone and the consensus is achieved asymptotically even in the presence of external disturbances. Finally, considering the ideal and perturbed system, the efficacy of the analytical results are illustrated by comparative analysis using numerical simulations.

本文通过设计基于观察者的共识协议，解决了与线性时不变多输入多输出多智能体系统，即多无人机（无人机群）的输出同步相关的协同控制问题。具有定向通信拓扑。考虑到领导者遵循共识跟踪问题，设计了一个基于观察者的协议来获得理想的输出同步。协议设计由领导无人机的本地观察者和跟随无人机的分布式观察者组成。通过基于线性二次调节器控制器和线性矩阵不等式的多步算法优化观测器增益。大多数现有的关于协同控制的文献都考虑了控制器和观测器设计的完整状态信息。然而，本文提出的用于多无人机一致性跟踪的控制器和观察器设计协议认为仅利用来自相应相邻无人机的相对部分状态信息。所设计的算法具有鲁棒性，并保证跟随无人机的所有状态都跟踪领导无人机的状态，并且即使在存在外部干扰的情况下也能渐近地达成共识。最后，考虑到理想和扰动系统，通过数值模拟的比较分析说明了分析结果的有效性。