Output sign-consensus of heterogenous multi-agent systems: an observer-based approach

Abstract This paper studies output sign-consensus of heterogeneous multi-agent systems over directed signed graphs. To remove the restriction that every follower knows the dynamics of the leader system, a distributed observer is maintained by each follower nodes, such that the state and dynamics of the leader node is estimated. Then a distributed state feedback control law is designed and analyzed. A simulation example is presented to illustrate the effectiveness of the proposed control law.