Generalized output synchronization of heterogeneous linear multi-agent systems

This paper investigates output synchronization of heterogeneous linear time-invariant systems. Agents distributively communicate measured outputs and synchronize on regulated outputs. Necessary structure of single-agents' drift dynamics is used. Relations between single-agent dynamics, measured outputs and regulated outputs are investigated. Cooperative stability conditions reduce to requirements depending separately on single-agents' structure and interconnecting graph topology, allowing for a distributed control design. Sufficient condition is given based on coordinate transformations which reveal the effects of distributed control on single-agents. It is shown that identical subsystem state synchronization and robustness to interconnections guarantee regulated output synchronization.