Leaderless output sign consensus of heterogeneous multi-agent systems over signed graphs

This article studies leaderless output sign consensus of heterogeneous multi-agent systems over directed signed graphs. The multi-agent system can synchronize in the same sign concurrently with time-varying values without an explicit leadership. Established on the assumption that the adjacency matrix of the signed graph is eventually positive, an autonomous system is constructed by utilizing a distributed sign observer. This autonomous system is not pre-specified but arises from the graph topology and the initial states of the agents. In light of this distributed sign observer, we propose a state feedback controller and an output feedback controller that drive the outputs of such multi-agent systems to reach sign consensus.