Output feedback semiglobal practical consensus of linear systems with relative state-dependent uncertainties

This paper proposes an output feedback consensus control law for linear multiagent systems with relative state-dependent uncertainties. To achieve output feedback control and uncertainty attenuation, the theories of extended high-gain observer and structural decomposition are employed. Under the proposed control scheme, semiglobal practical consensus is achieved in the sense that the synchronization errors are ultimately bounded. Besides, the synchronization errors can be kept arbitrarily small by a proper choice of tuning parameters. Finally, a simulation example is provided to verify the theoretical results.