Complexity 2019:1-10 (2019)

Abstract
This paper investigates the observability of first-order, second-order, and high-order leader-based multiagent systems with fixed topology, respectively. Some new algebraic and graphical characterizations of the observability for the first-order MASs are established based on agreement protocols. Moreover, under the same leader-following framework with the predefined topology and leader assignment, the observability conditions for systems of double-integrator and high-integrator agents are also obtained. Finally, the effectiveness of the theoretical results is verified by numerical examples and simulations.
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DOI 10.1155/2019/9487574
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