LAUSR

Abstract Distributed consensus algorithms have been widely designed for physically decoupled linear time-invariant multiagent systems operating at a fixed operating point. However, they do not guarantee the closed-loop stability and performance of multiagent systems in the presence of physical interconnections or changes in operating conditions of agents. In this paper, we propose a class of state- and output-coupled linear multiagent systems where each agent is characterized by its individual unknown operating point. Under the effect of these varying operating points of agents, we propose the distributed decoupling problem in order to mitigate the effect of interconnections, and ensure that each agent can operate at its individual operating point independent of its neighbors. We reformulate this decoupling task, and propose two linear quadratic regulator-based distributed leaderless consensus algorithms using coupled-state and -output measurements. In both scenarios, we establish sufficient conditions guaranteeing global exponential decoupling of agents.