Constructing a Virtual Leader for Sign Consensus of Heterogeneous Multi-Agent Systems
Yihan Meng, Lu Liu, Hongwei Zhang · 2023
This paper studies output sign consensus problem for leaderless heterogeneous linear multi-agent systems (MASs) over switching signed graphs. Established on the assumption that the communication graph is jointly eventually positive, a distributed ‘sign observer’ is proposed to estimate a virtual leader. This virtual leader is not pre-determined, but induced from the topology of the graph, the initial conditions of the agents and the structure of the ‘observer’. Based on the distributed ‘sign observer’ and output regulation method, a state feedback controller is designed to drive the output signals of the MAS to have the same sign.