Consensus of linear heterogeneous multi-agent systems with switching networks

This note consider leader-following consensus problem for linear heterogeneous multi-agent systems under switching networks. A distributed dynamic compensator with the leader measurable output is introduced to obtain the estimation of the leader state. Subsequently, leader-following consensus problem is converted into a new tracking problem utilizing the compensator. Then the distributed dynamic output feedback protocol is further adopted to drive the followers to track the leader under output regulation framework. Finally, a simulation is chosen to verify the correctness of the theoretical result.