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

Kamil Hassan, Fatima Tahir, Muhammad Rehan, Choon Ki Ahn, Mohammed Chadli

Research output: Contribution to journalArticlepeer-review

13 Citations (Scopus)


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.

Original languageEnglish
Pages (from-to)55-66
Number of pages12
JournalIEEE Transactions on Cybernetics
Issue number1
Publication statusPublished - 2023 Jan 1

Bibliographical note

Funding Information:
This work was supported in part by the National Research Foundation of Korea (NRF) grant funded by the Korea Government (Ministry of Science and ICT) under Grant NRF- 2020R1A2C1005449, and in part by the Brain Korea 21 Plus Project in 2021.

Publisher Copyright:
© 2022 IEEE.


  • Cluster consensus
  • clusters of heterogeneous systems
  • consensus
  • cooperative control of multiagent systems (MAS)
  • group consensus
  • static output feedback control

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Information Systems
  • Human-Computer Interaction
  • Computer Science Applications
  • Electrical and Electronic Engineering


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