Output consensus of heterogeneous multiagent systems with physical and communication graphs

Abstract

This paper deals with the output consensus problem of heterogeneous networks in a leader-follower manner that are interconnected by a physical coupling graph. The network under consideration consists of linear agents with different dynamics/dimensions. Both the state-feedback and output-feedback control protocols based upon information flow prescribed by a separate communication graph are developed, using the internal model principle and relative outputs of neighboring agents. With the small-gain theorem, we convert the consensus problem into a H∞ control problem of decoupled linear systems having the same dimensions as a single agent, where the disturbance attenuation constraints depend on the largest singular value related to the global information of physical and communication graphs. Then, we provide local synthesis procedures for control gains in terms of feasible solutions of algebraic Riccati equations. Finally, simulation examples are presented to verify the performance of the theoretical results.