Observer-based synchronization of heterogeneous multi-agent systems by homogenization

In this article a distributed control law for the full- and partial-state synchronization of possibly exponentially unstable linear heterogeneous multi-agent systems is presented. The design is based on the estimation of the absolute position of the agents which is used to compensate for the heterogeneity. Thereby, it is possible to reduce the problem to the known synchronization of linear homogeneous agents under certain conditions on the communication topology and the agent dynamics.