Sign-consensus of heterogenous multi-agent systems over switching graphs: an observer based approach

This paper studies output sign-consensus, i.e., outputs of all agents will have the same sign eventually, of heterogeneous multi-agent systems over switching signed graphs. To remove the restriction that each follower knows the dynamics of the leader system, a distributed observer is maintained by each follower nodes, such that the states and dynamics of the leader node can be 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.