Output H∞ Synchronization of Heterogeneous Linear Multi-agent Systems via a Distributed Output-Feedback

This paper investigates output H-infinity synchronization of a group of linear heterogeneous agents. Agents are subject to external unmodeled disturbances and distributively communicate one set of outputs. The aim is to design a distributed controller to achieve synchronization on another set of outputs with an H-infinity bound. We obtain an H-infinity-criterion for each agent that guarantees output synchronization in the absence of the external unmodeled disturbances and output H-infinity synchronization in their presence. We derive the overall L-2-gain of the output synchronization error with respect to the external unmodeled disturbances. We demonstrate our developments by a simulation example.