ABSTRACT
Unlike most existing works where the relative full state measurements of neighboring agents are used for controller design, this chapter proposes a relative outputs based observer type consensus controller for complex network systems with Lipschitz nonlinear dynamics and directed switching topologies. This chapter begins by studying the case where the agents layer and the observer layer have the same topology. By using the multiple Lyapunov functions analysis methods, we show that consensus can be achieved if each topology contains a directed spanning tree rooted at the leader and the dwell time for the switching among different topology is less than a derived positive quantity. Then, this chapter extends the derived results to the case where the topologies of the agents layer and the observer layer are independent. Finally, this chapter presents some simulations to validate the obtained theoretical results.
