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    This study presents a novel distributed observer and control protocol for multiagent systems (MASs) to achieve timely consensus using only relative output data. The method enhances security and reduces computational load.

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    Area of Science:

    • Control Theory
    • Networked Systems
    • Robotics

    Background:

    • Achieving consensus in multiagent systems (MASs) is crucial for coordinated behavior.
    • Traditional methods often require direct data exchange, posing security risks.
    • Limited sensor data (relative output) presents a significant challenge.

    Purpose of the Study:

    • To develop a distributed consensus protocol for linear MASs over directed graphs using relative output measurements.
    • To ensure consensus is achieved within a specified time frame.
    • To enhance system robustness against cyber-attacks and improve adaptability.

    Main Methods:

    • Design of a periodic delayed output measurements-based distributed observer to reconstruct relative state information.
    • Development of a linear time-varying control protocol utilizing reconstructed states for consensus.
    • Assumption of strong observability for observer design.

    Main Results:

    • Successfully recovered relative state information using the distributed observer.
    • Achieved timely consensus in linear MASs with directed communication graphs.
    • Demonstrated robustness against cyber-attacks due to the absence of direct data exchange.

    Conclusions:

    • The proposed distributed observer and control protocol effectively achieves consensus in MASs under resource constraints.
    • The method offers enhanced security and computational efficiency compared to conventional approaches.
    • The distributed nature of the protocol allows for adaptability in dynamic communication environments.