This paper addresses the leader-following consensus problem for general linear multiagent systems under general directed topology, with a focus on the scenarios where only relative output information is available. To solve such problem, most existing observer-based protocols rely on relative observer information among neighboring agents, which is obtained through the communication network and can be susceptible to network attacks. To overcome this limitation, this paper proposes a novel class of distributed observer-based linear time-varying protocols, in which the feedback gain is designed with two time-varying terms, one of which tends towards infinity as time increases, while the other tends towards zero. Compared to existing protocols, the proposed protocols offer significant advantages. Notably, they do not require information exchange through the communication network, making them immune to network attacks. Furthermore, the protocols operate in a fully distributed manner, which makes them resilient to changes in the topology graph. Simulation results demonstrate the effectiveness of the proposed approach.

中文翻译：

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通过线性时变反馈，为线性多代理系统提供完全分布式和抗攻击协议


本文解决了一般有向拓扑下一般线性多智能体系统的领头人跟随共识问题，重点介绍了只有相对输出信息可用的场景。为了解决这个问题，大多数现有的基于观察者的协议都依赖于相邻代理之间的相对观察者信息，这些信息是通过通信网络获得的，可能容易受到网络攻击。为了克服这一限制，本文提出了一类新型的基于分布式观察者的线性时变协议，其中反馈增益设计有两个时变项，其中一个随着时间的增加趋于无穷大，而另一个趋于零。与现有协议相比，拟议的协议具有显着优势。值得注意的是，它们不需要通过通信网络进行信息交换，因此不受网络攻击。此外，这些协议以完全分布式的方式运行，这使得它们能够灵活地适应拓扑图中的更改。仿真结果证明了所提出的方法的有效性。