Robust output synchronization for heterogeneous multi-agent systems based on input-output decoupling

This paper deals with the problem of robust output synchronization for heterogeneous multi-agent systems. We propose a method to homogenize the output dynamics of every agent, which is based on noninteracting control techniques. Hence, the problem is reduced to a simple synchronization task for homogeneous systems. Moreover, we present an approach to reformulate the homogenization purpose as a problem of finding a structurally constrained controller in the standard control problem framework, and thus use well established tools to increase the robustness of the agents against exogenous disturbances. The robust output synchronization of a heterogeneous aircraft fleet illustrates the effectiveness of the approach.