Distributed dynamic control for leaderless multi-agent consensus with star-like topology

In this paper, we consider a consensus problem of a group of mobile agents interconnected by a star-like topology. Not all the state variables of the agent in the center of the group are available for its neighbors. A distributed controller together with a local state-estimation rule is given for each agent who has to estimate the unmeasurable velocity. Then, with help of virtual equivalent agents, we prove that, with the proposed control scheme, the group of agents can reach its consensus.