On Relative-Output Feedback Approach for Group Consensus of Clusters of Multiagent Systems.

In this article, the group consensus problem is addressed for a network of multiagent systems (MASs). Unlike in existing literature, where a relative-state feedback-based distributed control input is used to achieve group consensus, this work aims at designing a relative-output-based distributed control law to achieve the same goal. To that effect, the Lyapunov stability theory is used to formulate the sufficient and necessary conditions for the existence of such a feedback controller and then separate conditions have been included for its design. In addition to that, a new linear matrix inequality is explored to choose the intracluster coupling strengths to ensure group consensus. In this article, the relative-output-based control approach is investigated for both the leaderless and the leader-following frameworks of the group consensus problem, and the theoretical findings presented are validated using numerical examples and simulation results.